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+    "Set the switch at the rectangular switch with slanted sides",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Activate the the flat switch using the right arm",
+    "Use the right arm for switching the flat switch",
+    "Interact with the tan switch.",
+    "Deploy the right arm to operate the trapezoid-shaped switch smooth surface",
+    "Trigger the flat switch using the right arm",
+    "Engage with the plastic switch with angled edges manually",
+    "Engage the flat switch with a press.",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Use the right arm to engage the plastic switch with angled edges",
+    "Interact with the small light tan switch directly",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Direct the right arm to operate the flat switch",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Press the switch with darker rectangle directly",
+    "Activate the angled switch light tan color via the right arm",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Set the right arm to press the flat switch",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Approach and tap the plastic switch with angled edges via the right arm",
+    "Trigger the tan switch without referencing the right arm",
+    "Directly interact with the angled switch light tan color",
+    "Press the switch with darker rectangle via automation",
+    "Activate the light tan rectangular switch smooth finish by pressing it",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Toggle the plastic switch with angled edges with the right arm.",
+    "Trigger the small light tan switch with precision",
+    "Engage the right arm to press the angled switch light tan color",
+    "Switch the plastic switch with angled edges to its active state",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Activate the smooth tan switch with textured sides directly",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Operate the right arm to engage the plastic switch with angled edges",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Engage the tan switch using the right arm.",
+    "Locate and press the smooth tan switch with textured sides",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Press the switch with darker rectangle using robotic control",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Engage the small light tan switch using the right arm",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Set the switch at the trapezoid-shaped switch smooth surface",
+    "Press the trapezoid-shaped switch smooth surface using the right arm.",
+    "Activate the the hand-sized switch tan smooth finish using the right arm",
+    "Use the right arm for switching the small light tan switch",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Deploy the right arm to operate the flat switch",
+    "Trigger the angled switch light tan color using the right arm",
+    "Engage with the angled switch light tan color manually",
+    "Engage the tan switch with a press.",
+    "Initiate the flat switch by clicking",
+    "Command the right arm to engage the angled switch light tan color",
+    "Tap the smooth tan switch with textured sides to engage it",
+    "Use the right arm to engage the tan switch",
+    "Interact with the tan switch directly",
+    "Move to the smooth tan switch with textured sides and click it.",
+    "Locate and press the flat switch",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Activate the tan switch with robotic precision",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Activate the flat switch via the right arm",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Approach and tap the small light tan switch via the right arm",
+    "Trigger the smooth tan switch with textured sides without referencing the right arm",
+    "Directly interact with the small light tan switch",
+    "Press the trapezoid-shaped switch smooth surface via automation",
+    "Activate the angled switch light tan color by pressing it",
+    "Activate the light tan rectangular switch smooth finish with the right arm.",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Trigger the small light tan switch with precision",
+    "Engage the right arm to press the plastic switch with angled edges",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Click the angled switch light tan color directly.",
+    "Activate the angled switch light tan color directly",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Press the switch with darker rectangle carefully with the right arm",
+    "Operate the right arm to engage the rectangular switch with slanted sides",
+    "Press the small light tan switch with the right arm",
+    "Engage the hand-sized switch tan smooth finish using the right arm.",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Push the tan switch via the right arm.",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Engage the tan switch using the right arm",
+    "Operate the plastic switch with angled edges with the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode102.json b/turn_switch/piper_randomized_500/instructions/episode102.json
new file mode 100644
index 0000000000000000000000000000000000000000..92d21268e62bf1fc4644ef907b6a397ab623e4a1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode102.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the handheld switch to activate it",
+    "Engage the right arm to press the medium switch with trapezoidal base",
+    "Push the gray base with black buttons via the right arm.",
+    "Trigger the plastic switch with matte buttons with precision",
+    "Command the right arm to engage the gray base with black buttons",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Move to the electric toggle switch and click it.",
+    "Interact with the gray switch with black buttons directly",
+    "Activate the handheld switch with the right arm.",
+    "Interact with the smooth gray switch.",
+    "Use the right arm for switching the switch with trapezoidal base",
+    "Click the trapezoidal base switch using automated tools",
+    "Engage the switch with trapezoidal base using the right arm",
+    "Directly interact with the electric toggle switch",
+    "Deploy the right arm to press the smooth gray switch",
+    "Toggle the gray smooth surface switch with the right arm.",
+    "Press the two-button gray switch using the right arm.",
+    "Click the plastic switch with matte buttons with robotic precision",
+    "Trigger the electric toggle switch using the right arm",
+    "Operate the right arm to engage the medium switch with trapezoidal base",
+    "Locate and press the trapezoidal base switch",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Set the switch at the electric toggle switch",
+    "Use the right arm to interact with the gray plastic switch",
+    "Deploy the right arm to operate the plastic switch with matte buttons",
+    "Engage the gray smooth surface switch using the right arm.",
+    "Press the gray switch with black buttons via automation",
+    "Approach and tap the electric toggle switch via the right arm",
+    "Press the plastic switch with matte buttons directly",
+    "Activate the the smooth gray switch using the right arm",
+    "Locate and press the gray smooth surface switch",
+    "Activate the gray switch with black buttons by pressing it",
+    "Press the gray plastic switch carefully with the right arm",
+    "Set the right arm to press the gray switch with black buttons",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Use the right arm to engage the smooth gray switch",
+    "Direct the right arm to operate the plastic switch with matte buttons",
+    "Trigger the gray plastic switch without referencing the right arm",
+    "Activate the gray base with black buttons with robotic precision",
+    "Switch the switch with trapezoidal base to its active state",
+    "Press the gray switch with black buttons with the right arm",
+    "Press the two-button gray switch to activate.",
+    "Click on the gray switch with black buttons precisely",
+    "Activate the switch with trapezoidal base via the right arm",
+    "Engage the smooth gray switch with a press.",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Tap the gray plastic switch to engage it",
+    "Activate the gray switch with black buttons directly",
+    "Click the switch with trapezoidal base directly.",
+    "Click the gray switch with black buttons to activate it",
+    "Engage the right arm to press the switch with trapezoidal base",
+    "Push the trapezoidal base switch via the right arm.",
+    "Trigger the gray switch with black buttons with precision",
+    "Command the right arm to engage the smooth gray switch",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Move to the gray switch with black buttons and click it.",
+    "Interact with the trapezoidal base switch directly",
+    "Activate the gray smooth surface switch with the right arm.",
+    "Interact with the plastic switch with matte buttons.",
+    "Use the right arm for switching the trapezoidal base switch",
+    "Click the handheld switch using automated tools",
+    "Engage the two-button gray switch using the right arm",
+    "Directly interact with the gray plastic switch",
+    "Deploy the right arm to press the medium switch with trapezoidal base",
+    "Toggle the two-button gray switch with the right arm.",
+    "Press the two-button gray switch using the right arm.",
+    "Click the switch with trapezoidal base with robotic precision",
+    "Trigger the trapezoidal base switch using the right arm",
+    "Operate the right arm to engage the gray smooth surface switch",
+    "Locate and press the gray switch with black buttons",
+    "Engage with the gray base with black buttons manually",
+    "Initiate the gray smooth surface switch by clicking",
+    "Set the switch at the gray plastic switch",
+    "Use the right arm to interact with the gray plastic switch",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Engage the gray smooth surface switch using the right arm.",
+    "Press the handheld switch via automation",
+    "Approach and tap the gray plastic switch via the right arm",
+    "Press the gray plastic switch directly",
+    "Activate the the trapezoidal base switch using the right arm",
+    "Locate and press the medium switch with trapezoidal base",
+    "Activate the gray switch with black buttons by pressing it",
+    "Press the gray base with black buttons carefully with the right arm",
+    "Set the right arm to press the gray base with black buttons",
+    "Engage the two-button gray switch using the robotic arm",
+    "Use the right arm to engage the gray base with black buttons",
+    "Direct the right arm to operate the handheld switch",
+    "Trigger the handheld switch without referencing the right arm",
+    "Activate the smooth gray switch with robotic precision",
+    "Switch the gray smooth surface switch to its active state",
+    "Press the plastic switch with matte buttons with the right arm",
+    "Press the plastic switch with matte buttons to activate.",
+    "Click on the trapezoidal base switch precisely",
+    "Activate the plastic switch with matte buttons via the right arm",
+    "Engage the smooth gray switch with a press.",
+    "Operate the two-button gray switch with the right arm",
+    "Tap the two-button gray switch to engage it",
+    "Activate the handheld switch directly",
+    "Click the plastic switch with matte buttons directly."
+  ],
+  "unseen": [
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Click the gray switch with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode103.json b/turn_switch/piper_randomized_500/instructions/episode103.json
new file mode 100644
index 0000000000000000000000000000000000000000..99648d7e0f807826730c361e34de5cc2e9d48475
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode103.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to interact with the light gray plastic switch",
+    "Activate the flat square with raised center via the left arm",
+    "Press the switch with rectangular raised area directly",
+    "Press the square switch with smooth surface using the left arm.",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Click the flat square with raised center using automated tools",
+    "Activate the smooth gray switch directly",
+    "Locate and press the light gray plastic switch",
+    "Press the palm-sized light gray switch via automation",
+    "Interact with the square gray switch panel.",
+    "Press the small square switch made of plastic using robotic control",
+    "Engage the square gray switch panel with a press.",
+    "Trigger the flat square with raised center without referencing the left arm",
+    "Click the flat square with raised center to activate it",
+    "Click the small square switch made of plastic with robotic precision",
+    "Operate the square switch with smooth surface with the left arm",
+    "Press the smooth gray switch carefully with the left arm",
+    "Push the flat square with raised center via the left arm.",
+    "Activate the square gray switch panel with the left arm.",
+    "Trigger the palm-sized light gray switch using the left arm",
+    "Engage with the square switch with smooth surface manually",
+    "Use the left arm to engage the angled-edge gray square switch",
+    "Interact with the flat square with raised center directly",
+    "Activate the the angled-edge gray square switch using the left arm",
+    "Engage the square switch with smooth surface using the left arm",
+    "Set the switch at the small square switch",
+    "Press the light gray plastic switch to activate.",
+    "Toggle the square gray switch panel with the left arm.",
+    "Activate the switch for electrical control by pressing it",
+    "Engage the flat square with raised center using the left arm.",
+    "Click on the square switch with smooth surface precisely",
+    "Deploy the left arm to operate the switch with smooth light gray finish",
+    "Engage the flat square with raised center using the robotic arm",
+    "Switch the switch with rectangular raised area to its active state",
+    "Command the left arm to engage the angled-edge gray square switch",
+    "Approach and tap the switch with rectangular raised area via the left arm",
+    "Press the light gray plastic switch with the left arm",
+    "Locate and press the flat square with raised center",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Direct the left arm to operate the smooth gray switch",
+    "Move to the small square switch and click it.",
+    "Set the left arm to press the smooth gray switch",
+    "Use the left arm for switching the smooth gray switch",
+    "Click the switch with rectangular raised area directly.",
+    "Tap the square gray switch panel to engage it",
+    "Trigger the light gray plastic switch with precision",
+    "Deploy the left arm to press the switch with smooth light gray finish",
+    "Engage the left arm to press the square switch with smooth surface",
+    "Directly interact with the square gray switch panel",
+    "Use the left arm to interact with the switch with rectangular raised area",
+    "Activate the square gray switch panel via the left arm",
+    "Press the flat square with raised center directly",
+    "Press the palm-sized light gray switch using the left arm.",
+    "Operate the left arm to engage the square gray switch panel",
+    "Click the angled-edge gray square switch using automated tools",
+    "Activate the square switch with smooth surface directly",
+    "Locate and press the small square switch",
+    "Press the square gray switch panel via automation",
+    "Interact with the square switch with smooth surface.",
+    "Press the small square switch using robotic control",
+    "Engage the flat square with raised center with a press.",
+    "Trigger the small square switch without referencing the left arm",
+    "Click the palm-sized light gray switch to activate it",
+    "Click the switch with smooth light gray finish with robotic precision",
+    "Operate the switch for electrical control with the left arm",
+    "Press the small square switch made of plastic carefully with the left arm",
+    "Push the square switch with smooth surface via the left arm.",
+    "Activate the small square switch made of plastic with the left arm.",
+    "Trigger the small square switch using the left arm",
+    "Engage with the square switch with smooth surface manually",
+    "Use the left arm to engage the switch for electrical control",
+    "Interact with the smooth gray switch directly",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Engage the switch with smooth light gray finish using the left arm",
+    "Set the switch at the switch with rectangular raised area",
+    "Press the small square switch made of plastic to activate.",
+    "Toggle the small square switch made of plastic with the left arm.",
+    "Activate the switch for electrical control by pressing it",
+    "Engage the switch with smooth light gray finish using the left arm.",
+    "Click on the smooth gray switch precisely",
+    "Deploy the left arm to operate the small square switch",
+    "Engage the square gray switch panel using the robotic arm",
+    "Switch the square gray switch panel to its active state",
+    "Command the left arm to engage the square switch with smooth surface",
+    "Approach and tap the switch with smooth light gray finish via the left arm",
+    "Press the square gray switch panel with the left arm",
+    "Locate and press the small square switch",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Direct the left arm to operate the square gray switch panel",
+    "Move to the square gray switch panel and click it.",
+    "Set the left arm to press the switch with smooth light gray finish",
+    "Use the left arm for switching the small square switch made of plastic",
+    "Click the switch with rectangular raised area directly.",
+    "Tap the small square switch to engage it",
+    "Trigger the angled-edge gray square switch with precision",
+    "Deploy the left arm to press the palm-sized light gray switch",
+    "Engage the left arm to press the smooth gray switch",
+    "Directly interact with the switch for electrical control"
+  ],
+  "unseen": [
+    "Move and click the the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode104.json b/turn_switch/piper_randomized_500/instructions/episode104.json
new file mode 100644
index 0000000000000000000000000000000000000000..abeaea70529a80e29c9e41b82a7b0caf56f2a1af
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode104.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the light gray square switch directly.",
+    "Use the left arm to interact with the compact switch with flat base",
+    "Engage with the toggle switch light gray base manually",
+    "Press the gray switch with red toggle to activate.",
+    "Click on the gray switch with red toggle precisely",
+    "Activate the switch for electrical control with robotic precision",
+    "Engage the square switch with red bar using the left arm.",
+    "Engage the left arm to press the red bar switch",
+    "Activate the compact switch with flat base via the left arm",
+    "Press the light gray square switch using robotic control",
+    "Trigger the square switch with red bar using the left arm",
+    "Press the gray switch with red toggle carefully with the left arm",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Press the switch directly",
+    "Click the compact switch with flat base using automated tools",
+    "Tap the toggle switch light gray base to engage it",
+    "Directly interact with the switch for electrical control",
+    "Command the left arm to engage the switch with thin red toggle",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Press the control switch with red lever via automation",
+    "Locate and press the control switch with red lever",
+    "Operate the switch with thin red toggle with the left arm",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Interact with the control switch with red lever.",
+    "Operate the left arm to engage the switch with thin red toggle",
+    "Switch the compact switch with flat base to its active state",
+    "Initiate the square switch with red bar by clicking",
+    "Click the square switch with red bar to activate it",
+    "Press the compact switch with flat base with the left arm",
+    "Push the red bar switch via the left arm.",
+    "Use the left arm to engage the toggle switch light gray base",
+    "Direct the left arm to operate the electrical switch with protruding toggle",
+    "Move to the square switch with red bar and click it.",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Use the left arm for switching the compact switch with flat base",
+    "Deploy the left arm to operate the switch with thin red toggle",
+    "Trigger the switch with thin red toggle with precision",
+    "Engage the switch with thin red toggle using the left arm",
+    "Activate the control switch with red lever with the left arm.",
+    "Set the switch at the square switch with red bar",
+    "Locate and press the switch",
+    "Trigger the control switch with red lever without referencing the left arm",
+    "Set the left arm to press the toggle switch light gray base",
+    "Press the toggle switch light gray base using the left arm.",
+    "Activate the the switch using the left arm",
+    "Interact with the switch with thin red toggle directly",
+    "Activate the switch with thin red toggle directly",
+    "Toggle the switch for electrical control with the left arm.",
+    "Deploy the left arm to press the switch with thin red toggle",
+    "Engage the control switch with red lever with a press.",
+    "Click the switch with thin red toggle directly.",
+    "Use the left arm to interact with the control switch with red lever",
+    "Engage with the light gray square switch manually",
+    "Press the plastic gray body switch to activate.",
+    "Click on the gray switch with red toggle precisely",
+    "Activate the gray switch with red toggle with robotic precision",
+    "Engage the square switch with red bar using the left arm.",
+    "Engage the left arm to press the square switch with red bar",
+    "Activate the plastic gray body switch via the left arm",
+    "Press the toggle switch light gray base using robotic control",
+    "Trigger the light gray square switch using the left arm",
+    "Press the switch with thin red toggle carefully with the left arm",
+    "Activate the control switch with red lever by pressing it",
+    "Press the switch directly",
+    "Click the gray switch with red toggle using automated tools",
+    "Tap the light gray square switch to engage it",
+    "Directly interact with the light gray square switch",
+    "Command the left arm to engage the control switch with red lever",
+    "Click the square switch with red bar with robotic precision",
+    "Press the control switch with red lever via automation",
+    "Locate and press the light gray square switch",
+    "Operate the red bar switch with the left arm",
+    "Approach and tap the gray switch with red toggle via the left arm",
+    "Interact with the square switch with red bar.",
+    "Operate the left arm to engage the gray switch with red toggle",
+    "Switch the square switch with red bar to its active state",
+    "Initiate the gray switch with red toggle by clicking",
+    "Click the compact switch with flat base to activate it",
+    "Press the toggle switch light gray base with the left arm",
+    "Push the control switch with red lever via the left arm.",
+    "Use the left arm to engage the gray switch with red toggle",
+    "Direct the left arm to operate the gray switch with red toggle",
+    "Move to the switch and click it.",
+    "Engage the switch with thin red toggle using the robotic arm",
+    "Use the left arm for switching the gray switch with red toggle",
+    "Deploy the left arm to operate the red bar switch",
+    "Trigger the control switch with red lever with precision",
+    "Engage the gray switch with red toggle using the left arm",
+    "Activate the switch with thin red toggle with the left arm.",
+    "Set the switch at the light gray square switch",
+    "Locate and press the toggle switch light gray base",
+    "Trigger the switch with thin red toggle without referencing the left arm",
+    "Set the left arm to press the compact switch with flat base",
+    "Press the switch for electrical control using the left arm.",
+    "Activate the the switch with thin red toggle using the left arm",
+    "Interact with the plastic gray body switch directly",
+    "Activate the light gray square switch directly",
+    "Toggle the plastic gray body switch with the left arm.",
+    "Deploy the left arm to press the plastic gray body switch",
+    "Engage the electrical switch with protruding toggle with a press."
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Direct the left arm to click the smooth gray base switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode105.json b/turn_switch/piper_randomized_500/instructions/episode105.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b5df9df20a0cd45d0fe5ff4bd21257067071299
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode105.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the square switch with smooth surface using automated tools",
+    "Initiate the small square switch by clicking",
+    "Deploy the left arm to press the light gray plastic switch",
+    "Click the switch with rectangular raised area to activate it",
+    "Interact with the switch with smooth light gray finish.",
+    "Set the left arm to press the flat square with raised center",
+    "Activate the small square switch with the left arm.",
+    "Press the switch with rectangular raised area with the left arm",
+    "Activate the the palm-sized light gray switch using the left arm",
+    "Engage the switch with rectangular raised area using the left arm",
+    "Tap the small square switch made of plastic to engage it",
+    "Click the angled-edge gray square switch directly.",
+    "Activate the smooth gray switch via the left arm",
+    "Activate the switch for electrical control by pressing it",
+    "Click the square gray switch panel with robotic precision",
+    "Trigger the switch with rectangular raised area without referencing the left arm",
+    "Locate and press the square switch with smooth surface",
+    "Press the smooth gray switch carefully with the left arm",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Press the light gray plastic switch via automation",
+    "Set the switch at the switch with rectangular raised area",
+    "Deploy the left arm to operate the angled-edge gray square switch",
+    "Press the switch with smooth light gray finish using robotic control",
+    "Engage the angled-edge gray square switch using the left arm.",
+    "Operate the square switch with smooth surface with the left arm",
+    "Command the left arm to engage the square gray switch panel",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the switch for electrical control to activate.",
+    "Approach and tap the switch for electrical control via the left arm",
+    "Switch the small square switch made of plastic to its active state",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Push the palm-sized light gray switch via the left arm.",
+    "Use the left arm to engage the switch for electrical control",
+    "Use the left arm for switching the small square switch",
+    "Locate and press the palm-sized light gray switch",
+    "Direct the left arm to operate the palm-sized light gray switch",
+    "Click on the switch for electrical control precisely",
+    "Trigger the switch with rectangular raised area using the left arm",
+    "Move to the smooth gray switch and click it.",
+    "Engage the left arm to press the switch for electrical control",
+    "Interact with the light gray plastic switch directly",
+    "Activate the small square switch made of plastic with robotic precision",
+    "Toggle the smooth gray switch with the left arm.",
+    "Engage the light gray plastic switch with a press.",
+    "Engage with the square gray switch panel manually",
+    "Press the switch with rectangular raised area using the left arm.",
+    "Directly interact with the angled-edge gray square switch",
+    "Use the left arm to interact with the smooth gray switch",
+    "Activate the square gray switch panel directly",
+    "Press the square gray switch panel directly",
+    "Click the small square switch using automated tools",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Deploy the left arm to press the small square switch made of plastic",
+    "Click the switch with smooth light gray finish to activate it",
+    "Interact with the palm-sized light gray switch.",
+    "Set the left arm to press the light gray plastic switch",
+    "Activate the switch for electrical control with the left arm.",
+    "Press the square switch with smooth surface with the left arm",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Engage the square switch with smooth surface using the left arm",
+    "Tap the flat square with raised center to engage it",
+    "Click the square gray switch panel directly.",
+    "Activate the smooth gray switch via the left arm",
+    "Activate the square switch with smooth surface by pressing it",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Trigger the small square switch made of plastic without referencing the left arm",
+    "Locate and press the small square switch",
+    "Press the light gray plastic switch carefully with the left arm",
+    "Operate the left arm to engage the light gray plastic switch",
+    "Press the square switch with smooth surface via automation",
+    "Set the switch at the smooth gray switch",
+    "Deploy the left arm to operate the switch with smooth light gray finish",
+    "Press the light gray plastic switch using robotic control",
+    "Engage the switch with rectangular raised area using the left arm.",
+    "Operate the smooth gray switch with the left arm",
+    "Command the left arm to engage the square switch with smooth surface",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the switch with rectangular raised area to activate.",
+    "Approach and tap the switch with smooth light gray finish via the left arm",
+    "Switch the small square switch to its active state",
+    "Engage the square gray switch panel using the robotic arm",
+    "Push the light gray plastic switch via the left arm.",
+    "Use the left arm to engage the smooth gray switch",
+    "Use the left arm for switching the light gray plastic switch",
+    "Locate and press the light gray plastic switch",
+    "Direct the left arm to operate the angled-edge gray square switch",
+    "Click on the small square switch made of plastic precisely",
+    "Trigger the small square switch using the left arm",
+    "Move to the palm-sized light gray switch and click it.",
+    "Engage the left arm to press the angled-edge gray square switch",
+    "Interact with the switch with smooth light gray finish directly",
+    "Activate the small square switch with robotic precision",
+    "Toggle the palm-sized light gray switch with the left arm.",
+    "Engage the light gray plastic switch with a press.",
+    "Engage with the switch with smooth light gray finish manually",
+    "Press the small square switch using the left arm.",
+    "Directly interact with the switch with rectangular raised area",
+    "Use the left arm to interact with the light gray plastic switch",
+    "Activate the small square switch directly",
+    "Press the angled-edge gray square switch directly"
+  ],
+  "unseen": [
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the flat gray switch.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the flat gray switch.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Press the flat gray switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode106.json b/turn_switch/piper_randomized_500/instructions/episode106.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a85bac051055fd7d140ab7faa497f82977c198
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode106.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to engage the beige switch",
+    "Engage the switch with a smooth top using the right arm",
+    "Direct the right arm to operate the hand-sized light beige switch",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Trigger the tiny matte beige toggle switch using the right arm",
+    "Activate the switch with rectangular dark button with robotic precision",
+    "Deploy the right arm to operate the switch with brown button",
+    "Click the switch with rectangular dark button directly.",
+    "Tap the toggle switch with brown rectangle button to engage it",
+    "Use the right arm for switching the beige switch",
+    "Locate and press the hand-sized light beige switch",
+    "Operate the light plastic switch with the right arm",
+    "Press the switch with a smooth top using robotic control",
+    "Press the hand-sized light beige switch carefully with the right arm",
+    "Click on the switch with brown button precisely",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Command the right arm to engage the hand-sized light beige switch",
+    "Click the small trapezoid switch with robotic precision",
+    "Trigger the hand-sized light beige switch with precision",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Press the light plastic switch using the right arm.",
+    "Deploy the right arm to press the beige switch with smooth finish",
+    "Engage the right arm to press the small trapezoid switch",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Activate the the light plastic switch using the right arm",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Toggle the beige switch with smooth finish with the right arm.",
+    "Move to the switch with rectangular dark button and click it.",
+    "Push the beige switch with smooth finish via the right arm.",
+    "Click the small trapezoid switch using automated tools",
+    "Directly interact with the small trapezoid switch",
+    "Press the small trapezoid switch to activate.",
+    "Set the right arm to press the tiny matte beige toggle switch",
+    "Activate the light-colored trapezoid-shaped plastic switch by pressing it",
+    "Operate the right arm to engage the switch with rectangular dark button",
+    "Activate the beige switch with smooth finish via the right arm",
+    "Press the light-colored trapezoid-shaped plastic switch via automation",
+    "Initiate the switch with rectangular dark button by clicking",
+    "Engage the matte beige switch with flat top with a press.",
+    "Interact with the hand-sized light beige switch.",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Press the hand-sized light beige switch directly",
+    "Trigger the light plastic switch without referencing the right arm",
+    "Use the right arm to interact with the switch with a smooth top",
+    "Locate and press the hand-sized light beige switch",
+    "Press the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Switch the light-colored trapezoid-shaped plastic switch to its active state",
+    "Activate the switch with brown button directly",
+    "Use the right arm to engage the small trapezoid switch",
+    "Engage the beige switch using the right arm",
+    "Direct the right arm to operate the switch with brown button",
+    "Click the matte beige switch with flat top to activate it",
+    "Trigger the switch with a smooth top using the right arm",
+    "Activate the switch with a smooth top with robotic precision",
+    "Deploy the right arm to operate the small trapezoid switch",
+    "Click the hand-sized light beige switch directly.",
+    "Tap the switch with brown button to engage it",
+    "Use the right arm for switching the matte beige switch with flat top",
+    "Locate and press the small trapezoid switch",
+    "Operate the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Press the hand-sized light beige switch using robotic control",
+    "Press the switch with a smooth top carefully with the right arm",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Activate the switch with brown button with the right arm.",
+    "Set the switch at the light-colored trapezoid-shaped plastic switch",
+    "Engage the toggle switch with brown rectangle button using the right arm.",
+    "Command the right arm to engage the matte beige switch with flat top",
+    "Click the tiny matte beige toggle switch with robotic precision",
+    "Trigger the switch with rectangular dark button with precision",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Press the beige switch using the right arm.",
+    "Deploy the right arm to press the tiny matte beige toggle switch",
+    "Engage the right arm to press the switch with a smooth top",
+    "Engage with the switch with a smooth top manually",
+    "Activate the the beige switch using the right arm",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Toggle the switch with rectangular dark button with the right arm.",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Push the light-colored trapezoid-shaped plastic switch via the right arm.",
+    "Click the small trapezoid switch using automated tools",
+    "Directly interact with the matte beige switch with flat top",
+    "Press the beige switch with smooth finish to activate.",
+    "Set the right arm to press the switch with brown button",
+    "Activate the toggle switch with brown rectangle button by pressing it",
+    "Operate the right arm to engage the beige switch with smooth finish",
+    "Activate the beige switch with smooth finish via the right arm",
+    "Press the light-colored trapezoid-shaped plastic switch via automation",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Engage the switch with a smooth top with a press.",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Approach and tap the small trapezoid switch via the right arm",
+    "Press the light plastic switch directly",
+    "Trigger the light-colored trapezoid-shaped plastic switch without referencing the right arm",
+    "Use the right arm to interact with the toggle switch with brown rectangle button",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Press the switch with brown button with the right arm",
+    "Switch the beige switch to its active state",
+    "Activate the small trapezoid switch directly"
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode107.json b/turn_switch/piper_randomized_500/instructions/episode107.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a774803c693d48e3b0fbd6f3b1a5d5a16f84c6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode107.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to press the hand-sized light beige switch",
+    "Trigger the toggle switch with brown rectangle button using the right arm",
+    "Activate the matte beige switch with flat top by pressing it",
+    "Interact with the switch with rectangular dark button.",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Press the small trapezoid switch directly",
+    "Engage the beige switch with smooth finish with a press.",
+    "Activate the switch with a smooth top with robotic precision",
+    "Press the beige switch with smooth finish using the right arm.",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Activate the the tiny matte beige toggle switch using the right arm",
+    "Press the switch with a smooth top with the right arm",
+    "Locate and press the beige switch with smooth finish",
+    "Use the right arm to engage the switch with brown button",
+    "Set the right arm to press the toggle switch with brown rectangle button",
+    "Operate the beige switch with smooth finish with the right arm",
+    "Engage with the beige switch with smooth finish manually",
+    "Tap the matte beige switch with flat top to engage it",
+    "Engage the small trapezoid switch using the right arm",
+    "Activate the light plastic switch directly",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Use the right arm to interact with the light plastic switch",
+    "Directly interact with the matte beige switch with flat top",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Interact with the matte beige switch with flat top directly",
+    "Activate the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Approach and tap the hand-sized light beige switch via the right arm",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Push the matte beige switch with flat top via the right arm.",
+    "Trigger the toggle switch with brown rectangle button without referencing the right arm",
+    "Press the beige switch with smooth finish carefully with the right arm",
+    "Trigger the light plastic switch with precision",
+    "Press the beige switch via automation",
+    "Engage the beige switch using the robotic arm",
+    "Locate and press the switch with a smooth top",
+    "Operate the right arm to engage the switch with brown button",
+    "Engage the toggle switch with brown rectangle button using the right arm.",
+    "Press the beige switch with smooth finish using robotic control",
+    "Click the matte beige switch with flat top to activate it",
+    "Use the right arm for switching the small trapezoid switch",
+    "Press the light plastic switch to activate.",
+    "Engage the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Command the right arm to engage the tiny matte beige toggle switch",
+    "Switch the switch with brown button to its active state",
+    "Click the beige switch using automated tools",
+    "Direct the right arm to operate the light plastic switch",
+    "Move to the switch with brown button and click it.",
+    "Deploy the right arm to operate the switch with a smooth top",
+    "Click the beige switch directly.",
+    "Activate the switch with rectangular dark button with the right arm.",
+    "Deploy the right arm to press the beige switch",
+    "Trigger the small trapezoid switch using the right arm",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Interact with the beige switch.",
+    "Set the switch at the switch with rectangular dark button",
+    "Press the matte beige switch with flat top directly",
+    "Engage the matte beige switch with flat top with a press.",
+    "Activate the light plastic switch with robotic precision",
+    "Press the switch with brown button using the right arm.",
+    "Click the beige switch with robotic precision",
+    "Activate the the small trapezoid switch using the right arm",
+    "Press the switch with rectangular dark button with the right arm",
+    "Locate and press the tiny matte beige toggle switch",
+    "Use the right arm to engage the beige switch with smooth finish",
+    "Set the right arm to press the beige switch with smooth finish",
+    "Operate the small trapezoid switch with the right arm",
+    "Engage with the light-colored trapezoid-shaped plastic switch manually",
+    "Tap the beige switch with smooth finish to engage it",
+    "Engage the switch with rectangular dark button using the right arm",
+    "Activate the switch with brown button directly",
+    "Toggle the beige switch with smooth finish with the right arm.",
+    "Use the right arm to interact with the light plastic switch",
+    "Directly interact with the matte beige switch with flat top",
+    "Click on the small trapezoid switch precisely",
+    "Interact with the light plastic switch directly",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Approach and tap the beige switch via the right arm",
+    "Initiate the switch with a smooth top by clicking",
+    "Push the switch with a smooth top via the right arm.",
+    "Trigger the beige switch without referencing the right arm",
+    "Press the switch with brown button carefully with the right arm",
+    "Trigger the beige switch with smooth finish with precision",
+    "Press the switch with a smooth top via automation",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Operate the right arm to engage the tiny matte beige toggle switch",
+    "Engage the small trapezoid switch using the right arm.",
+    "Press the beige switch using robotic control",
+    "Click the light plastic switch to activate it",
+    "Use the right arm for switching the beige switch with smooth finish",
+    "Press the beige switch with smooth finish to activate.",
+    "Engage the right arm to press the beige switch with smooth finish",
+    "Command the right arm to engage the switch with a smooth top",
+    "Switch the light-colored trapezoid-shaped plastic switch to its active state",
+    "Click the light plastic switch using automated tools",
+    "Direct the right arm to operate the beige switch with smooth finish",
+    "Move to the switch with brown button and click it.",
+    "Deploy the right arm to operate the switch with a smooth top",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Activate the tiny matte beige toggle switch with the right arm."
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Press the rectangular button switch on beige base using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode113.json b/turn_switch/piper_randomized_500/instructions/episode113.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef216dc86fc24e376b51eb1bdd47285ede04aff5
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode113.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Engage the right arm to press the toggle switch with brown rectangle button",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Locate and press the switch with rectangular dark button",
+    "Press the toggle switch with brown rectangle button directly",
+    "Trigger the matte beige switch with flat top without referencing the right arm",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Click the light plastic switch directly.",
+    "Toggle the beige switch with smooth finish with the right arm.",
+    "Click the switch with rectangular dark button to activate it",
+    "Engage with the switch with brown button manually",
+    "Trigger the toggle switch with brown rectangle button with precision",
+    "Activate the hand-sized light beige switch with robotic precision",
+    "Use the right arm to interact with the switch with rectangular dark button",
+    "Activate the beige switch with smooth finish with the right arm.",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Push the small trapezoid switch via the right arm.",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the right arm",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Set the switch at the matte beige switch with flat top",
+    "Activate the the tiny matte beige toggle switch using the right arm",
+    "Press the small trapezoid switch to activate.",
+    "Initiate the matte beige switch with flat top by clicking",
+    "Operate the beige switch with the right arm",
+    "Press the switch with brown button using the right arm.",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Click the beige switch with robotic precision",
+    "Locate and press the light plastic switch",
+    "Directly interact with the small trapezoid switch",
+    "Trigger the toggle switch with brown rectangle button using the right arm",
+    "Press the switch with a smooth top with the right arm",
+    "Activate the switch with a smooth top by pressing it",
+    "Direct the right arm to operate the tiny matte beige toggle switch",
+    "Command the right arm to engage the light plastic switch",
+    "Set the right arm to press the switch with brown button",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Use the right arm for switching the small trapezoid switch",
+    "Deploy the right arm to press the light plastic switch",
+    "Press the tiny matte beige toggle switch via automation",
+    "Click the beige switch using automated tools",
+    "Interact with the light plastic switch.",
+    "Click on the switch with rectangular dark button precisely",
+    "Move to the matte beige switch with flat top and click it.",
+    "Activate the switch with rectangular dark button directly",
+    "Engage the switch with a smooth top using the right arm.",
+    "Activate the small trapezoid switch via the right arm",
+    "Tap the toggle switch with brown rectangle button to engage it",
+    "Deploy the right arm to operate the hand-sized light beige switch",
+    "Engage the hand-sized light beige switch with a press.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Engage the right arm to press the switch with brown button",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Locate and press the switch with rectangular dark button",
+    "Press the tiny matte beige toggle switch directly",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Operate the right arm to engage the switch with a smooth top",
+    "Click the switch with brown button directly.",
+    "Toggle the matte beige switch with flat top with the right arm.",
+    "Click the switch with rectangular dark button to activate it",
+    "Engage with the hand-sized light beige switch manually",
+    "Trigger the hand-sized light beige switch with precision",
+    "Activate the light plastic switch with robotic precision",
+    "Use the right arm to interact with the hand-sized light beige switch",
+    "Activate the hand-sized light beige switch with the right arm.",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Push the matte beige switch with flat top via the right arm.",
+    "Press the light plastic switch carefully with the right arm",
+    "Approach and tap the switch with brown button via the right arm",
+    "Set the switch at the switch with rectangular dark button",
+    "Activate the the hand-sized light beige switch using the right arm",
+    "Press the matte beige switch with flat top to activate.",
+    "Initiate the small trapezoid switch by clicking",
+    "Operate the hand-sized light beige switch with the right arm",
+    "Press the beige switch using the right arm.",
+    "Interact with the beige switch with smooth finish directly",
+    "Click the hand-sized light beige switch with robotic precision",
+    "Locate and press the switch with a smooth top",
+    "Directly interact with the light-colored trapezoid-shaped plastic switch",
+    "Trigger the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Press the light plastic switch with the right arm",
+    "Activate the tiny matte beige toggle switch by pressing it",
+    "Direct the right arm to operate the hand-sized light beige switch",
+    "Command the right arm to engage the beige switch",
+    "Set the right arm to press the switch with brown button",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Use the right arm for switching the beige switch",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Press the light plastic switch via automation",
+    "Click the switch with rectangular dark button using automated tools",
+    "Interact with the tiny matte beige toggle switch.",
+    "Click on the matte beige switch with flat top precisely",
+    "Move to the switch with rectangular dark button and click it.",
+    "Activate the tiny matte beige toggle switch directly",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Tap the small trapezoid switch to engage it",
+    "Deploy the right arm to operate the tiny matte beige toggle switch",
+    "Engage the hand-sized light beige switch with a press.",
+    "Engage the switch with brown button using the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode116.json b/turn_switch/piper_randomized_500/instructions/episode116.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7890d1e7e4a4d501fa82d72e54d7c797229b06e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode116.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the smooth red switch with labels and click it.",
+    "Press the metal-pronged black switch using the left arm.",
+    "Use the left arm to interact with the red and black electrical switch",
+    "Operate the left arm to engage the toggle switch with black housing",
+    "Use the left arm to engage the small switch with red lever",
+    "Locate and press the plastic switch with metal prongs",
+    "Activate the small switch with red lever by pressing it",
+    "Click the small switch with red lever to activate it",
+    "Deploy the left arm to press the two-tone red black switch",
+    "Interact with the switch with three metal pins directly",
+    "Approach and tap the metal-pronged black switch via the left arm",
+    "Trigger the toggle switch with black housing using the left arm",
+    "Press the smooth red switch with labels via automation",
+    "Direct the left arm to operate the plastic switch with metal prongs",
+    "Press the tiny rectangular switch to activate.",
+    "Click on the toggle switch with black housing precisely",
+    "Click the smooth red switch with labels directly.",
+    "Engage the left arm to press the plastic switch with metal prongs",
+    "Engage the small switch with red lever using the left arm",
+    "Press the rectangular switch with the left arm",
+    "Tap the red and black electrical switch to engage it",
+    "Press the plastic switch with metal prongs carefully with the left arm",
+    "Activate the switch for turning circuits on off directly",
+    "Command the left arm to engage the switch for turning circuits on off",
+    "Activate the tiny rectangular switch via the left arm",
+    "Engage the switch with three metal pins using the left arm.",
+    "Trigger the red and black electrical switch without referencing the left arm",
+    "Activate the rectangular switch with robotic precision",
+    "Engage the smooth red switch with labels using the robotic arm",
+    "Use the left arm for switching the metal-pronged black switch",
+    "Click the switch for turning circuits on off using automated tools",
+    "Trigger the rectangular switch with precision",
+    "Interact with the plastic switch with metal prongs.",
+    "Press the smooth red switch with labels using robotic control",
+    "Push the tiny rectangular switch via the left arm.",
+    "Deploy the left arm to operate the switch with three metal pins",
+    "Switch the small switch with red lever to its active state",
+    "Click the switch for turning circuits on off with robotic precision",
+    "Engage with the rectangular switch manually",
+    "Initiate the small switch with red lever by clicking",
+    "Toggle the toggle switch with black housing with the left arm.",
+    "Press the small switch with red lever directly",
+    "Set the switch at the switch for turning circuits on off",
+    "Set the left arm to press the smooth red switch with labels",
+    "Directly interact with the rectangular switch",
+    "Locate and press the switch with three metal pins",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Activate the the rectangular switch using the left arm",
+    "Operate the red and black electrical switch with the left arm",
+    "Activate the switch for turning circuits on off with the left arm.",
+    "Move to the smooth red switch with labels and click it.",
+    "Press the small switch with red lever using the left arm.",
+    "Use the left arm to interact with the metal-pronged black switch",
+    "Operate the left arm to engage the metal-pronged black switch",
+    "Use the left arm to engage the smooth red switch with labels",
+    "Locate and press the switch with three metal pins",
+    "Activate the switch for turning circuits on off by pressing it",
+    "Click the tiny rectangular switch to activate it",
+    "Deploy the left arm to press the rectangular switch",
+    "Interact with the metal-pronged black switch directly",
+    "Approach and tap the plastic switch with metal prongs via the left arm",
+    "Trigger the smooth red switch with labels using the left arm",
+    "Press the red and black electrical switch via automation",
+    "Direct the left arm to operate the plastic switch with metal prongs",
+    "Press the switch with three metal pins to activate.",
+    "Click on the rectangular switch precisely",
+    "Click the tiny rectangular switch directly.",
+    "Engage the left arm to press the switch with three metal pins",
+    "Engage the smooth red switch with labels using the left arm",
+    "Press the switch with three metal pins with the left arm",
+    "Tap the tiny rectangular switch to engage it",
+    "Press the plastic switch with metal prongs carefully with the left arm",
+    "Activate the toggle switch with black housing directly",
+    "Command the left arm to engage the red and black electrical switch",
+    "Activate the toggle switch with black housing via the left arm",
+    "Engage the metal-pronged black switch using the left arm.",
+    "Trigger the small switch with red lever without referencing the left arm",
+    "Activate the switch for turning circuits on off with robotic precision",
+    "Engage the toggle switch with black housing using the robotic arm",
+    "Use the left arm for switching the smooth red switch with labels",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Trigger the toggle switch with black housing with precision",
+    "Interact with the black base switch.",
+    "Press the metal-pronged black switch using robotic control",
+    "Push the switch for turning circuits on off via the left arm.",
+    "Deploy the left arm to operate the tiny rectangular switch",
+    "Switch the rectangular switch to its active state",
+    "Click the tiny rectangular switch with robotic precision",
+    "Engage with the metal-pronged black switch manually",
+    "Initiate the rectangular switch by clicking",
+    "Toggle the switch with three metal pins with the left arm.",
+    "Press the tiny rectangular switch directly",
+    "Set the switch at the tiny rectangular switch",
+    "Set the left arm to press the rectangular switch",
+    "Directly interact with the red and black electrical switch",
+    "Locate and press the smooth red switch with labels",
+    "Engage the tiny rectangular switch with a press.",
+    "Activate the the red and black electrical switch using the left arm",
+    "Operate the black base switch with the left arm",
+    "Activate the toggle switch with black housing with the left arm."
+  ],
+  "unseen": [
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode117.json b/turn_switch/piper_randomized_500/instructions/episode117.json
new file mode 100644
index 0000000000000000000000000000000000000000..8498201d75d37de59d242859e15133d4078879ce
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode117.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the switch for electrical control directly",
+    "Deploy the right arm to press the square switch with red bar",
+    "Directly interact with the switch for electrical control",
+    "Locate and press the switch with thin red toggle",
+    "Activate the switch for electrical control via the right arm",
+    "Toggle the compact switch with flat base with the right arm.",
+    "Operate the light gray square switch with the right arm",
+    "Set the switch at the switch for electrical control",
+    "Use the right arm for switching the gray switch with red toggle",
+    "Engage the gray switch with red toggle with a press.",
+    "Push the toggle switch light gray base via the right arm.",
+    "Press the switch with the right arm",
+    "Command the right arm to engage the gray switch with red toggle",
+    "Click the switch with thin red toggle with robotic precision",
+    "Click on the toggle switch light gray base precisely",
+    "Activate the toggle switch light gray base with the right arm.",
+    "Engage the compact switch with flat base using the right arm.",
+    "Press the square switch with red bar using robotic control",
+    "Press the light gray square switch carefully with the right arm",
+    "Engage the compact switch with flat base using the right arm",
+    "Trigger the square switch with red bar without referencing the right arm",
+    "Press the red bar switch using the right arm.",
+    "Activate the compact switch with flat base with robotic precision",
+    "Activate the the gray switch with red toggle using the right arm",
+    "Click the light gray square switch using automated tools",
+    "Click the toggle switch light gray base to activate it",
+    "Tap the square switch with red bar to engage it",
+    "Deploy the right arm to operate the plastic gray body switch",
+    "Trigger the square switch with red bar with precision",
+    "Approach and tap the light gray square switch via the right arm",
+    "Interact with the compact switch with flat base.",
+    "Use the right arm to interact with the electrical switch with protruding toggle",
+    "Use the right arm to engage the gray switch with red toggle",
+    "Operate the right arm to engage the switch",
+    "Engage the right arm to press the switch with thin red toggle",
+    "Interact with the electrical switch with protruding toggle directly",
+    "Click the red bar switch directly.",
+    "Press the square switch with red bar to activate.",
+    "Direct the right arm to operate the compact switch with flat base",
+    "Press the square switch with red bar directly",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Engage with the switch for electrical control manually",
+    "Move to the switch and click it.",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Set the right arm to press the plastic gray body switch",
+    "Initiate the switch by clicking",
+    "Switch the compact switch with flat base to its active state",
+    "Locate and press the compact switch with flat base",
+    "Press the red bar switch via automation",
+    "Activate the switch directly",
+    "Deploy the right arm to press the switch",
+    "Directly interact with the light gray square switch",
+    "Locate and press the control switch with red lever",
+    "Activate the electrical switch with protruding toggle via the right arm",
+    "Toggle the gray switch with red toggle with the right arm.",
+    "Operate the plastic gray body switch with the right arm",
+    "Set the switch at the red bar switch",
+    "Use the right arm for switching the switch for electrical control",
+    "Engage the gray switch with red toggle with a press.",
+    "Push the control switch with red lever via the right arm.",
+    "Press the control switch with red lever with the right arm",
+    "Command the right arm to engage the square switch with red bar",
+    "Click the plastic gray body switch with robotic precision",
+    "Click on the plastic gray body switch precisely",
+    "Activate the control switch with red lever with the right arm.",
+    "Engage the compact switch with flat base using the right arm.",
+    "Press the switch using robotic control",
+    "Press the gray switch with red toggle carefully with the right arm",
+    "Engage the plastic gray body switch using the right arm",
+    "Trigger the control switch with red lever without referencing the right arm",
+    "Press the gray switch with red toggle using the right arm.",
+    "Activate the switch with robotic precision",
+    "Activate the the electrical switch with protruding toggle using the right arm",
+    "Click the electrical switch with protruding toggle using automated tools",
+    "Click the light gray square switch to activate it",
+    "Tap the control switch with red lever to engage it",
+    "Deploy the right arm to operate the compact switch with flat base",
+    "Trigger the switch with thin red toggle with precision",
+    "Approach and tap the square switch with red bar via the right arm",
+    "Interact with the electrical switch with protruding toggle.",
+    "Use the right arm to interact with the switch",
+    "Use the right arm to engage the electrical switch with protruding toggle",
+    "Operate the right arm to engage the gray switch with red toggle",
+    "Engage the right arm to press the switch for electrical control",
+    "Interact with the control switch with red lever directly",
+    "Click the plastic gray body switch directly.",
+    "Press the switch with thin red toggle to activate.",
+    "Direct the right arm to operate the toggle switch light gray base",
+    "Press the red bar switch directly",
+    "Engage the square switch with red bar using the robotic arm",
+    "Trigger the red bar switch using the right arm",
+    "Engage with the plastic gray body switch manually",
+    "Move to the switch with thin red toggle and click it.",
+    "Activate the plastic gray body switch by pressing it",
+    "Set the right arm to press the switch",
+    "Initiate the red bar switch by clicking",
+    "Switch the switch to its active state",
+    "Locate and press the toggle switch light gray base",
+    "Press the plastic gray body switch via automation"
+  ],
+  "unseen": [
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the flat square gray switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode118.json b/turn_switch/piper_randomized_500/instructions/episode118.json
new file mode 100644
index 0000000000000000000000000000000000000000..f102b0b6c1eefdb4c3a32ba9288480472db1157a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode118.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the small switch",
+    "Click the plastic switch with metal terminals using automated tools",
+    "Press the compact switch with toggle on top carefully with the right arm",
+    "Use the right arm to interact with the compact switch with toggle on top",
+    "Engage with the rectangular switch with curved lever manually",
+    "Click on the small switch precisely",
+    "Press the black switch via automation",
+    "Activate the red and black switch via the right arm",
+    "Engage the rectangular black plastic switch using the robotic arm",
+    "Click the small switch directly.",
+    "Deploy the right arm to press the red and black switch",
+    "Direct the right arm to operate the red-top black switch",
+    "Trigger the rectangular black plastic switch with precision",
+    "Activate the rectangular black plastic switch with robotic precision",
+    "Locate and press the plastic switch with metal terminals",
+    "Trigger the rectangular black plastic switch without referencing the right arm",
+    "Press the red and black switch to activate.",
+    "Press the red-top black switch with the right arm",
+    "Interact with the compact switch with toggle on top directly",
+    "Tap the black switch with metallic connectors to engage it",
+    "Engage the rectangular black plastic switch with a press.",
+    "Approach and tap the red-top black switch via the right arm",
+    "Toggle the hand-sized switch with connector prongs with the right arm.",
+    "Press the hand-sized switch with connector prongs using robotic control",
+    "Directly interact with the black base switch with red toggle",
+    "Set the switch at the red-top black switch",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Deploy the right arm to operate the red and black switch",
+    "Command the right arm to engage the rectangular black plastic switch",
+    "Activate the red-top black switch by pressing it",
+    "Press the black base switch with red toggle using the right arm.",
+    "Activate the black switch with metallic connectors directly",
+    "Press the compact switch with toggle on top directly",
+    "Click the red and black switch to activate it",
+    "Engage the right arm to press the black base switch with red toggle",
+    "Locate and press the black base switch with red toggle",
+    "Trigger the small switch using the right arm",
+    "Click the hand-sized switch with connector prongs with robotic precision",
+    "Operate the compact switch with toggle on top with the right arm",
+    "Activate the plastic switch with metal terminals with the right arm.",
+    "Interact with the switch with curved red toggle.",
+    "Engage the small switch using the right arm",
+    "Move to the small switch and click it.",
+    "Use the right arm for switching the hand-sized switch with connector prongs",
+    "Engage the compact switch with toggle on top using the right arm.",
+    "Set the right arm to press the rectangular switch with curved lever",
+    "Activate the the black base switch with red toggle using the right arm",
+    "Switch the small switch to its active state",
+    "Use the right arm to engage the red-top black switch",
+    "Push the hand-sized switch with connector prongs via the right arm.",
+    "Operate the right arm to engage the red-top black switch",
+    "Click the black switch with metallic connectors using automated tools",
+    "Press the red and black switch carefully with the right arm",
+    "Use the right arm to interact with the red-top black switch",
+    "Engage with the compact switch with toggle on top manually",
+    "Click on the hand-sized switch with connector prongs precisely",
+    "Press the switch with curved red toggle via automation",
+    "Activate the rectangular black plastic switch via the right arm",
+    "Engage the small switch using the robotic arm",
+    "Click the plastic switch with metal terminals directly.",
+    "Deploy the right arm to press the black switch with metallic connectors",
+    "Direct the right arm to operate the red-top black switch",
+    "Trigger the black switch with precision",
+    "Activate the rectangular black plastic switch with robotic precision",
+    "Locate and press the small switch",
+    "Trigger the red and black switch without referencing the right arm",
+    "Press the small switch to activate.",
+    "Press the small switch with the right arm",
+    "Interact with the black switch with metallic connectors directly",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Engage the small switch with a press.",
+    "Approach and tap the rectangular switch with curved lever via the right arm",
+    "Toggle the black switch with metallic connectors with the right arm.",
+    "Press the switch with curved red toggle using robotic control",
+    "Directly interact with the compact switch with toggle on top",
+    "Set the switch at the red and black switch",
+    "Initiate the rectangular black plastic switch by clicking",
+    "Deploy the right arm to operate the black switch with metallic connectors",
+    "Command the right arm to engage the black switch with metallic connectors",
+    "Activate the black base switch with red toggle by pressing it",
+    "Press the red-top black switch using the right arm.",
+    "Activate the black switch with metallic connectors directly",
+    "Press the black switch directly",
+    "Click the switch with curved red toggle to activate it",
+    "Engage the right arm to press the rectangular black plastic switch",
+    "Locate and press the red-top black switch",
+    "Trigger the black base switch with red toggle using the right arm",
+    "Click the small switch with robotic precision",
+    "Operate the black base switch with red toggle with the right arm",
+    "Activate the red-top black switch with the right arm.",
+    "Interact with the black base switch with red toggle.",
+    "Engage the black base switch with red toggle using the right arm",
+    "Move to the plastic switch with metal terminals and click it.",
+    "Use the right arm for switching the hand-sized switch with connector prongs",
+    "Engage the compact switch with toggle on top using the right arm.",
+    "Set the right arm to press the black base switch with red toggle",
+    "Activate the the red-top black switch using the right arm",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Use the right arm to engage the red-top black switch",
+    "Push the hand-sized switch with connector prongs via the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode119.json b/turn_switch/piper_randomized_500/instructions/episode119.json
new file mode 100644
index 0000000000000000000000000000000000000000..300b6d078454bb7149c1c934d3ab432658b39d50
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode119.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the toggle switch with brown rectangle button",
+    "Activate the light plastic switch with robotic precision",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Press the light-colored trapezoid-shaped plastic switch via automation",
+    "Operate the left arm to engage the small trapezoid switch",
+    "Set the switch at the light plastic switch",
+    "Click the light plastic switch directly.",
+    "Approach and tap the matte beige switch with flat top via the left arm",
+    "Engage with the switch with rectangular dark button manually",
+    "Set the left arm to press the switch with brown button",
+    "Press the switch with rectangular dark button using the left arm.",
+    "Tap the beige switch with smooth finish to engage it",
+    "Use the left arm to engage the beige switch with smooth finish",
+    "Press the tiny matte beige toggle switch with the left arm",
+    "Press the small trapezoid switch carefully with the left arm",
+    "Use the left arm to interact with the light plastic switch",
+    "Interact with the beige switch.",
+    "Directly interact with the switch with a smooth top",
+    "Press the switch with rectangular dark button directly",
+    "Press the light-colored trapezoid-shaped plastic switch to activate.",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Activate the toggle switch with brown rectangle button via the left arm",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Push the switch with brown button via the left arm.",
+    "Click the switch with a smooth top using automated tools",
+    "Deploy the left arm to press the tiny matte beige toggle switch",
+    "Switch the switch with a smooth top to its active state",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm.",
+    "Click the beige switch with smooth finish to activate it",
+    "Use the left arm for switching the hand-sized light beige switch",
+    "Press the matte beige switch with flat top using robotic control",
+    "Locate and press the switch with brown button",
+    "Activate the switch with brown button by pressing it",
+    "Command the left arm to engage the light plastic switch",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Engage the left arm to press the matte beige switch with flat top",
+    "Engage the toggle switch with brown rectangle button using the left arm",
+    "Trigger the tiny matte beige toggle switch using the left arm",
+    "Activate the tiny matte beige toggle switch with the left arm.",
+    "Activate the the hand-sized light beige switch using the left arm",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Activate the tiny matte beige toggle switch directly",
+    "Deploy the left arm to operate the matte beige switch with flat top",
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Operate the switch with brown button with the left arm",
+    "Engage the small trapezoid switch with a press.",
+    "Toggle the toggle switch with brown rectangle button with the left arm.",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Trigger the switch with brown button without referencing the left arm",
+    "Locate and press the switch with brown button",
+    "Activate the switch with brown button with robotic precision",
+    "Direct the left arm to operate the switch with brown button",
+    "Press the switch with rectangular dark button via automation",
+    "Operate the left arm to engage the beige switch with smooth finish",
+    "Set the switch at the light-colored trapezoid-shaped plastic switch",
+    "Click the switch with a smooth top directly.",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Engage with the small trapezoid switch manually",
+    "Set the left arm to press the switch with a smooth top",
+    "Press the toggle switch with brown rectangle button using the left arm.",
+    "Tap the matte beige switch with flat top to engage it",
+    "Use the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Press the tiny matte beige toggle switch with the left arm",
+    "Press the switch with rectangular dark button carefully with the left arm",
+    "Use the left arm to interact with the light plastic switch",
+    "Interact with the tiny matte beige toggle switch.",
+    "Directly interact with the beige switch",
+    "Press the switch with brown button directly",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Click on the beige switch with smooth finish precisely",
+    "Activate the light plastic switch via the left arm",
+    "Move to the beige switch and click it.",
+    "Push the light plastic switch via the left arm.",
+    "Click the light plastic switch using automated tools",
+    "Deploy the left arm to press the switch with rectangular dark button",
+    "Switch the switch with rectangular dark button to its active state",
+    "Engage the toggle switch with brown rectangle button using the left arm.",
+    "Click the beige switch with smooth finish to activate it",
+    "Use the left arm for switching the switch with brown button",
+    "Press the beige switch using robotic control",
+    "Locate and press the switch with a smooth top",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Command the left arm to engage the toggle switch with brown rectangle button",
+    "Trigger the beige switch with smooth finish with precision",
+    "Engage the left arm to press the switch with rectangular dark button",
+    "Engage the tiny matte beige toggle switch using the left arm",
+    "Trigger the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Activate the switch with a smooth top with the left arm.",
+    "Activate the the switch with a smooth top using the left arm",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Activate the light-colored trapezoid-shaped plastic switch directly",
+    "Deploy the left arm to operate the switch with a smooth top",
+    "Initiate the switch with a smooth top by clicking",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Operate the beige switch with the left arm",
+    "Engage the beige switch with smooth finish with a press.",
+    "Toggle the small trapezoid switch with the left arm.",
+    "Click the beige switch with robotic precision",
+    "Trigger the beige switch without referencing the left arm"
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode12.json b/turn_switch/piper_randomized_500/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..f774b9b78d5beb55e3ae555b0c30c711a6c7cd54
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the angled switch light tan color",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Engage the angled switch light tan color using the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Use the right arm for switching the flat switch",
+    "Engage the flat switch using the right arm.",
+    "Activate the flat switch by pressing it",
+    "Activate the the tan switch using the right arm",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Set the right arm to press the plastic switch with angled edges",
+    "Click the rectangular switch with slanted sides directly.",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Toggle the flat switch with the right arm.",
+    "Move to the small light tan switch and click it.",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Engage the flat switch with a press.",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Press the angled switch light tan color with the right arm",
+    "Engage the right arm to press the small light tan switch",
+    "Engage the small light tan switch using the robotic arm",
+    "Command the right arm to engage the plastic switch with angled edges",
+    "Trigger the tan switch with precision",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Interact with the plastic switch with angled edges.",
+    "Use the right arm to engage the flat switch",
+    "Use the right arm to interact with the smooth tan switch with textured sides",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Press the switch with darker rectangle using the right arm.",
+    "Press the switch with darker rectangle directly",
+    "Click the switch with darker rectangle using automated tools",
+    "Set the switch at the flat switch",
+    "Engage with the small light tan switch manually",
+    "Press the tan switch via automation",
+    "Activate the angled switch light tan color with robotic precision",
+    "Deploy the right arm to press the tan switch",
+    "Tap the switch with darker rectangle to engage it",
+    "Operate the hand-sized switch tan smooth finish with the right arm",
+    "Click the tan switch to activate it",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Operate the right arm to engage the plastic switch with angled edges",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Trigger the switch with darker rectangle using the right arm",
+    "Activate the small light tan switch directly",
+    "Activate the plastic switch with angled edges with the right arm.",
+    "Push the flat switch via the right arm.",
+    "Approach and tap the plastic switch with angled edges via the right arm",
+    "Deploy the right arm to operate the tan switch",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Engage the hand-sized switch tan smooth finish using the right arm",
+    "Trigger the hand-sized switch tan smooth finish without referencing the right arm",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Activate the the trapezoid-shaped switch smooth surface using the right arm",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Click the smooth tan switch with textured sides directly.",
+    "Direct the right arm to operate the smooth tan switch with textured sides",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Directly interact with the small light tan switch",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Move to the tan switch and click it.",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Engage the plastic switch with angled edges with a press.",
+    "Activate the flat switch via the right arm",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Engage the right arm to press the small light tan switch",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Trigger the small light tan switch with precision",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Interact with the angled switch light tan color.",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Interact with the tan switch directly",
+    "Switch the small light tan switch to its active state",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Press the rectangular switch with slanted sides directly",
+    "Click the flat switch using automated tools",
+    "Set the switch at the plastic switch with angled edges",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Press the switch with darker rectangle via automation",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Deploy the right arm to press the light tan rectangular switch smooth finish",
+    "Tap the angled switch light tan color to engage it",
+    "Operate the light tan rectangular switch smooth finish with the right arm",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Operate the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Click the angled switch light tan color with robotic precision",
+    "Trigger the hand-sized switch tan smooth finish using the right arm",
+    "Activate the angled switch light tan color directly",
+    "Activate the angled switch light tan color with the right arm.",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Approach and tap the switch with darker rectangle via the right arm"
+  ],
+  "unseen": [
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode120.json b/turn_switch/piper_randomized_500/instructions/episode120.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc1fc3e892ece7eb05e4abc71eb3841b80287b6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode120.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the toggle switch with black housing directly",
+    "Set the switch at the switch with three metal pins",
+    "Engage the tiny rectangular switch with a press.",
+    "Press the plastic switch with metal prongs via automation",
+    "Click the switch with three metal pins with robotic precision",
+    "Deploy the right arm to press the smooth red switch with labels",
+    "Engage the switch with three metal pins using the right arm.",
+    "Set the right arm to press the plastic switch with metal prongs",
+    "Activate the switch with three metal pins by pressing it",
+    "Press the switch for turning circuits on off directly",
+    "Use the right arm to interact with the small switch with red lever",
+    "Click on the red and black electrical switch precisely",
+    "Press the rectangular switch carefully with the right arm",
+    "Direct the right arm to operate the red and black electrical switch",
+    "Click the two-tone red black switch using automated tools",
+    "Click the small switch with red lever to activate it",
+    "Trigger the metal-pronged black switch without referencing the right arm",
+    "Activate the rectangular switch via the right arm",
+    "Locate and press the rectangular switch",
+    "Activate the rectangular switch with the right arm.",
+    "Operate the right arm to engage the switch with three metal pins",
+    "Press the black base switch using robotic control",
+    "Activate the the rectangular switch using the right arm",
+    "Engage the small switch with red lever using the robotic arm",
+    "Push the small switch with red lever via the right arm.",
+    "Press the toggle switch with black housing to activate.",
+    "Deploy the right arm to operate the small switch with red lever",
+    "Engage the smooth red switch with labels using the right arm",
+    "Press the smooth red switch with labels using the right arm.",
+    "Interact with the two-tone red black switch.",
+    "Use the right arm for switching the two-tone red black switch",
+    "Interact with the tiny rectangular switch directly",
+    "Engage with the toggle switch with black housing manually",
+    "Move to the switch with three metal pins and click it.",
+    "Operate the small switch with red lever with the right arm",
+    "Press the small switch with red lever with the right arm",
+    "Approach and tap the black base switch via the right arm",
+    "Engage the right arm to press the metal-pronged black switch",
+    "Initiate the black base switch by clicking",
+    "Tap the switch for turning circuits on off to engage it",
+    "Switch the red and black electrical switch to its active state",
+    "Trigger the metal-pronged black switch using the right arm",
+    "Command the right arm to engage the two-tone red black switch",
+    "Activate the two-tone red black switch with robotic precision",
+    "Directly interact with the red and black electrical switch",
+    "Click the black base switch directly.",
+    "Use the right arm to engage the switch for turning circuits on off",
+    "Toggle the black base switch with the right arm.",
+    "Trigger the toggle switch with black housing with precision",
+    "Locate and press the black base switch",
+    "Activate the two-tone red black switch directly",
+    "Set the switch at the plastic switch with metal prongs",
+    "Engage the two-tone red black switch with a press.",
+    "Press the tiny rectangular switch via automation",
+    "Click the switch with three metal pins with robotic precision",
+    "Deploy the right arm to press the small switch with red lever",
+    "Engage the switch for turning circuits on off using the right arm.",
+    "Set the right arm to press the two-tone red black switch",
+    "Activate the black base switch by pressing it",
+    "Press the tiny rectangular switch directly",
+    "Use the right arm to interact with the red and black electrical switch",
+    "Click on the red and black electrical switch precisely",
+    "Press the red and black electrical switch carefully with the right arm",
+    "Direct the right arm to operate the small switch with red lever",
+    "Click the rectangular switch using automated tools",
+    "Click the metal-pronged black switch to activate it",
+    "Trigger the switch for turning circuits on off without referencing the right arm",
+    "Activate the plastic switch with metal prongs via the right arm",
+    "Locate and press the metal-pronged black switch",
+    "Activate the switch with three metal pins with the right arm.",
+    "Operate the right arm to engage the two-tone red black switch",
+    "Press the tiny rectangular switch using robotic control",
+    "Activate the the rectangular switch using the right arm",
+    "Engage the red and black electrical switch using the robotic arm",
+    "Push the black base switch via the right arm.",
+    "Press the toggle switch with black housing to activate.",
+    "Deploy the right arm to operate the metal-pronged black switch",
+    "Engage the smooth red switch with labels using the right arm",
+    "Press the smooth red switch with labels using the right arm.",
+    "Interact with the switch for turning circuits on off.",
+    "Use the right arm for switching the red and black electrical switch",
+    "Interact with the two-tone red black switch directly",
+    "Engage with the tiny rectangular switch manually",
+    "Move to the tiny rectangular switch and click it.",
+    "Operate the switch with three metal pins with the right arm",
+    "Press the toggle switch with black housing with the right arm",
+    "Approach and tap the toggle switch with black housing via the right arm",
+    "Engage the right arm to press the small switch with red lever",
+    "Initiate the tiny rectangular switch by clicking",
+    "Tap the small switch with red lever to engage it",
+    "Switch the two-tone red black switch to its active state",
+    "Trigger the plastic switch with metal prongs using the right arm",
+    "Command the right arm to engage the toggle switch with black housing",
+    "Activate the metal-pronged black switch with robotic precision",
+    "Directly interact with the two-tone red black switch",
+    "Click the metal-pronged black switch directly.",
+    "Use the right arm to engage the red and black electrical switch",
+    "Toggle the switch with three metal pins with the right arm.",
+    "Trigger the small switch with red lever with precision",
+    "Locate and press the toggle switch with black housing"
+  ],
+  "unseen": [
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode121.json b/turn_switch/piper_randomized_500/instructions/episode121.json
new file mode 100644
index 0000000000000000000000000000000000000000..f816aa1afa596b3adce4c929ded7842d60708193
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode121.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch with darker rectangle via automation",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Deploy the right arm to press the switch with darker rectangle",
+    "Set the switch at the switch with darker rectangle",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Press the tan switch using the right arm.",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Use the right arm for switching the small light tan switch",
+    "Press the hand-sized switch tan smooth finish directly",
+    "Switch the angled switch light tan color to its active state",
+    "Press the trapezoid-shaped switch smooth surface to activate.",
+    "Engage the right arm to press the rectangular switch with slanted sides",
+    "Engage the switch with darker rectangle using the right arm",
+    "Activate the rectangular switch with slanted sides via the right arm",
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Trigger the smooth tan switch with textured sides without referencing the right arm",
+    "Engage the switch with darker rectangle using the right arm.",
+    "Operate the right arm to engage the angled switch light tan color",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Interact with the rectangular switch with slanted sides.",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Deploy the right arm to operate the flat switch",
+    "Activate the tan switch directly",
+    "Activate the hand-sized switch tan smooth finish with the right arm.",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Locate and press the rectangular switch with slanted sides",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Use the right arm to interact with the plastic switch with angled edges",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Click the small light tan switch to activate it",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Click the plastic switch with angled edges using automated tools",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Locate and press the switch with darker rectangle",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Trigger the smooth tan switch with textured sides with precision",
+    "Set the right arm to press the switch with darker rectangle",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Click on the angled switch light tan color precisely",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Engage the flat switch using the robotic arm",
+    "Press the tan switch via automation",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Toggle the switch with darker rectangle with the right arm.",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Set the switch at the plastic switch with angled edges",
+    "Direct the right arm to operate the light tan rectangular switch smooth finish",
+    "Press the small light tan switch using the right arm.",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Use the right arm for switching the trapezoid-shaped switch smooth surface",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Switch the angled switch light tan color to its active state",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Engage the right arm to press the rectangular switch with slanted sides",
+    "Engage the switch with darker rectangle using the right arm",
+    "Activate the rectangular switch with slanted sides via the right arm",
+    "Press the tan switch carefully with the right arm",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Engage the flat switch using the right arm.",
+    "Operate the right arm to engage the small light tan switch",
+    "Click the small light tan switch directly.",
+    "Interact with the tan switch.",
+    "Engage the angled switch light tan color with a press.",
+    "Activate the the smooth tan switch with textured sides using the right arm",
+    "Deploy the right arm to operate the small light tan switch",
+    "Activate the switch trapezoid shape brown marking directly",
+    "Activate the plastic switch with angled edges with the right arm.",
+    "Tap the flat switch to engage it",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Press the hand-sized switch tan smooth finish using robotic control",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Trigger the hand-sized switch tan smooth finish using the right arm",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Click the rectangular switch with slanted sides to activate it",
+    "Click the plastic switch with angled edges with robotic precision",
+    "Click the angled switch light tan color using automated tools",
+    "Directly interact with the flat switch",
+    "Press the small light tan switch with the right arm",
+    "Operate the tan switch with the right arm",
+    "Locate and press the rectangular switch with slanted sides",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Push the hand-sized switch tan smooth finish via the right arm.",
+    "Trigger the hand-sized switch tan smooth finish with precision",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Use the right arm to engage the flat switch",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Engage with the flat switch manually",
+    "Engage the smooth tan switch with textured sides using the robotic arm"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode122.json b/turn_switch/piper_randomized_500/instructions/episode122.json
new file mode 100644
index 0000000000000000000000000000000000000000..8156f83c629b0d9f732d9d6a2900eb59eacffa6b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the red bar switch.",
+    "Press the toggle switch light gray base directly",
+    "Use the left arm for switching the plastic gray body switch",
+    "Trigger the compact switch with flat base without referencing the left arm",
+    "Set the left arm to press the light gray square switch",
+    "Push the plastic gray body switch via the left arm.",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Initiate the light gray square switch by clicking",
+    "Locate and press the electrical switch with protruding toggle",
+    "Press the switch using robotic control",
+    "Command the left arm to engage the control switch with red lever",
+    "Activate the red bar switch with the left arm.",
+    "Engage the red bar switch using the left arm",
+    "Engage the left arm to press the switch",
+    "Click on the square switch with red bar precisely",
+    "Activate the control switch with red lever directly",
+    "Engage the toggle switch light gray base using the left arm.",
+    "Press the light gray square switch to activate.",
+    "Operate the light gray square switch with the left arm",
+    "Locate and press the switch",
+    "Activate the light gray square switch via the left arm",
+    "Direct the left arm to operate the toggle switch light gray base",
+    "Move to the switch with thin red toggle and click it.",
+    "Trigger the switch for electrical control using the left arm",
+    "Activate the switch with robotic precision",
+    "Toggle the switch with the left arm.",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Switch the switch with thin red toggle to its active state",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Deploy the left arm to operate the plastic gray body switch",
+    "Engage with the gray switch with red toggle manually",
+    "Activate the the electrical switch with protruding toggle using the left arm",
+    "Set the switch at the switch with thin red toggle",
+    "Press the toggle switch light gray base with the left arm",
+    "Click the gray switch with red toggle directly.",
+    "Click the plastic gray body switch using automated tools",
+    "Press the red bar switch via automation",
+    "Engage the toggle switch light gray base with a press.",
+    "Trigger the red bar switch with precision",
+    "Tap the square switch with red bar to engage it",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Deploy the left arm to press the electrical switch with protruding toggle",
+    "Directly interact with the compact switch with flat base",
+    "Use the left arm to interact with the switch",
+    "Press the switch with thin red toggle using the left arm.",
+    "Use the left arm to engage the switch with thin red toggle",
+    "Operate the left arm to engage the switch",
+    "Interact with the toggle switch light gray base directly",
+    "Click the square switch with red bar to activate it",
+    "Press the compact switch with flat base carefully with the left arm",
+    "Interact with the square switch with red bar.",
+    "Press the switch with thin red toggle directly",
+    "Use the left arm for switching the switch",
+    "Trigger the red bar switch without referencing the left arm",
+    "Set the left arm to press the toggle switch light gray base",
+    "Push the control switch with red lever via the left arm.",
+    "Engage the light gray square switch using the robotic arm",
+    "Initiate the gray switch with red toggle by clicking",
+    "Locate and press the electrical switch with protruding toggle",
+    "Press the compact switch with flat base using robotic control",
+    "Command the left arm to engage the compact switch with flat base",
+    "Activate the compact switch with flat base with the left arm.",
+    "Engage the square switch with red bar using the left arm",
+    "Engage the left arm to press the square switch with red bar",
+    "Click on the red bar switch precisely",
+    "Activate the square switch with red bar directly",
+    "Engage the electrical switch with protruding toggle using the left arm.",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Operate the control switch with red lever with the left arm",
+    "Locate and press the compact switch with flat base",
+    "Activate the toggle switch light gray base via the left arm",
+    "Direct the left arm to operate the gray switch with red toggle",
+    "Move to the switch for electrical control and click it.",
+    "Trigger the switch for electrical control using the left arm",
+    "Activate the plastic gray body switch with robotic precision",
+    "Toggle the electrical switch with protruding toggle with the left arm.",
+    "Click the light gray square switch with robotic precision",
+    "Switch the red bar switch to its active state",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Deploy the left arm to operate the compact switch with flat base",
+    "Engage with the red bar switch manually",
+    "Activate the the switch for electrical control using the left arm",
+    "Set the switch at the control switch with red lever",
+    "Press the toggle switch light gray base with the left arm",
+    "Click the light gray square switch directly.",
+    "Click the compact switch with flat base using automated tools",
+    "Press the compact switch with flat base via automation",
+    "Engage the red bar switch with a press.",
+    "Trigger the switch for electrical control with precision",
+    "Tap the light gray square switch to engage it",
+    "Approach and tap the light gray square switch via the left arm",
+    "Deploy the left arm to press the switch for electrical control",
+    "Directly interact with the toggle switch light gray base",
+    "Use the left arm to interact with the square switch with red bar",
+    "Press the switch with thin red toggle using the left arm.",
+    "Use the left arm to engage the switch",
+    "Operate the left arm to engage the switch",
+    "Interact with the electrical switch with protruding toggle directly",
+    "Click the red bar switch to activate it",
+    "Press the toggle switch light gray base carefully with the left arm"
+  ],
+  "unseen": [
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode123.json b/turn_switch/piper_randomized_500/instructions/episode123.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0a1665b0bef07ef7be4b93eccc4ca6cc251304
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode123.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the matte beige switch with flat top carefully with the left arm",
+    "Engage the hand-sized light beige switch using the left arm",
+    "Use the left arm to engage the tiny matte beige toggle switch",
+    "Click the light plastic switch using automated tools",
+    "Engage the left arm to press the hand-sized light beige switch",
+    "Operate the light plastic switch with the left arm",
+    "Operate the left arm to engage the toggle switch with brown rectangle button",
+    "Initiate the switch with a smooth top by clicking",
+    "Toggle the switch with rectangular dark button with the left arm.",
+    "Tap the small trapezoid switch to engage it",
+    "Trigger the switch with a smooth top with precision",
+    "Trigger the light plastic switch without referencing the left arm",
+    "Press the small trapezoid switch directly",
+    "Interact with the beige switch with smooth finish.",
+    "Click the small trapezoid switch directly.",
+    "Activate the switch with brown button with the left arm.",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Deploy the left arm to press the hand-sized light beige switch",
+    "Directly interact with the beige switch",
+    "Approach and tap the toggle switch with brown rectangle button via the left arm",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Press the matte beige switch with flat top with the left arm",
+    "Locate and press the switch with rectangular dark button",
+    "Activate the toggle switch with brown rectangle button via the left arm",
+    "Activate the switch with a smooth top directly",
+    "Set the left arm to press the toggle switch with brown rectangle button",
+    "Engage the switch with brown button using the left arm.",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Press the small trapezoid switch to activate.",
+    "Engage with the light plastic switch manually",
+    "Direct the left arm to operate the switch with rectangular dark button",
+    "Activate the the matte beige switch with flat top using the left arm",
+    "Set the switch at the switch with brown button",
+    "Locate and press the beige switch",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Trigger the tiny matte beige toggle switch using the left arm",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Press the hand-sized light beige switch using the left arm.",
+    "Click the switch with a smooth top to activate it",
+    "Click the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Command the left arm to engage the small trapezoid switch",
+    "Activate the small trapezoid switch by pressing it",
+    "Press the switch with a smooth top using robotic control",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Use the left arm for switching the beige switch",
+    "Deploy the left arm to operate the toggle switch with brown rectangle button",
+    "Use the left arm to interact with the hand-sized light beige switch",
+    "Push the hand-sized light beige switch via the left arm.",
+    "Press the switch with a smooth top carefully with the left arm",
+    "Engage the beige switch using the left arm",
+    "Use the left arm to engage the light plastic switch",
+    "Click the matte beige switch with flat top using automated tools",
+    "Engage the left arm to press the switch with rectangular dark button",
+    "Operate the beige switch with the left arm",
+    "Operate the left arm to engage the toggle switch with brown rectangle button",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Toggle the switch with brown button with the left arm.",
+    "Tap the hand-sized light beige switch to engage it",
+    "Trigger the small trapezoid switch with precision",
+    "Trigger the tiny matte beige toggle switch without referencing the left arm",
+    "Press the toggle switch with brown rectangle button directly",
+    "Interact with the toggle switch with brown rectangle button.",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Activate the beige switch with smooth finish with the left arm.",
+    "Switch the switch with rectangular dark button to its active state",
+    "Deploy the left arm to press the switch with brown button",
+    "Directly interact with the switch with brown button",
+    "Approach and tap the beige switch with smooth finish via the left arm",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Engage the small trapezoid switch with a press.",
+    "Press the switch with brown button with the left arm",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Activate the switch with brown button via the left arm",
+    "Activate the matte beige switch with flat top directly",
+    "Set the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm.",
+    "Activate the switch with a smooth top with robotic precision",
+    "Press the hand-sized light beige switch to activate.",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Direct the left arm to operate the small trapezoid switch",
+    "Activate the the switch with a smooth top using the left arm",
+    "Set the switch at the switch with rectangular dark button",
+    "Locate and press the switch with rectangular dark button",
+    "Move to the beige switch with smooth finish and click it.",
+    "Trigger the switch with a smooth top using the left arm",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Press the tiny matte beige toggle switch using the left arm.",
+    "Click the light plastic switch to activate it",
+    "Click the switch with a smooth top with robotic precision",
+    "Command the left arm to engage the light plastic switch",
+    "Activate the tiny matte beige toggle switch by pressing it",
+    "Press the switch with rectangular dark button using robotic control",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Interact with the switch with rectangular dark button directly",
+    "Use the left arm for switching the tiny matte beige toggle switch",
+    "Deploy the left arm to operate the toggle switch with brown rectangle button",
+    "Use the left arm to interact with the small trapezoid switch",
+    "Push the switch with rectangular dark button via the left arm."
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode127.json b/turn_switch/piper_randomized_500/instructions/episode127.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d623086cd34ab72737fcd49c2102842c666882
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode127.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the switch for electrical control precisely",
+    "Switch the switch for electrical control to its active state",
+    "Press the red bar switch using robotic control",
+    "Direct the left arm to operate the switch with thin red toggle",
+    "Engage the toggle switch light gray base using the left arm",
+    "Press the square switch with red bar carefully with the left arm",
+    "Operate the switch with thin red toggle with the left arm",
+    "Activate the light gray square switch via the left arm",
+    "Click the compact switch with flat base using automated tools",
+    "Activate the square switch with red bar by pressing it",
+    "Interact with the light gray square switch directly",
+    "Trigger the electrical switch with protruding toggle without referencing the left arm",
+    "Activate the switch with thin red toggle with robotic precision",
+    "Click the plastic gray body switch to activate it",
+    "Activate the switch for electrical control directly",
+    "Use the left arm for switching the switch with thin red toggle",
+    "Move to the gray switch with red toggle and click it.",
+    "Trigger the control switch with red lever with precision",
+    "Activate the switch for electrical control with the left arm.",
+    "Engage the square switch with red bar with a press.",
+    "Use the left arm to engage the switch",
+    "Engage the toggle switch light gray base using the robotic arm",
+    "Set the switch at the compact switch with flat base",
+    "Initiate the red bar switch by clicking",
+    "Trigger the electrical switch with protruding toggle using the left arm",
+    "Click the compact switch with flat base with robotic precision",
+    "Press the electrical switch with protruding toggle with the left arm",
+    "Locate and press the square switch with red bar",
+    "Directly interact with the gray switch with red toggle",
+    "Engage with the gray switch with red toggle manually",
+    "Interact with the compact switch with flat base.",
+    "Press the switch for electrical control via automation",
+    "Push the switch for electrical control via the left arm.",
+    "Toggle the toggle switch light gray base with the left arm.",
+    "Set the left arm to press the toggle switch light gray base",
+    "Operate the left arm to engage the control switch with red lever",
+    "Approach and tap the toggle switch light gray base via the left arm",
+    "Command the left arm to engage the plastic gray body switch",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Activate the the square switch with red bar using the left arm",
+    "Locate and press the light gray square switch",
+    "Deploy the left arm to operate the light gray square switch",
+    "Click the switch with thin red toggle directly.",
+    "Tap the red bar switch to engage it",
+    "Press the toggle switch light gray base to activate.",
+    "Press the toggle switch light gray base directly",
+    "Engage the left arm to press the switch",
+    "Use the left arm to interact with the switch with thin red toggle",
+    "Press the plastic gray body switch using the left arm.",
+    "Engage the compact switch with flat base using the left arm.",
+    "Click on the switch for electrical control precisely",
+    "Switch the switch with thin red toggle to its active state",
+    "Press the gray switch with red toggle using robotic control",
+    "Direct the left arm to operate the switch",
+    "Engage the light gray square switch using the left arm",
+    "Press the toggle switch light gray base carefully with the left arm",
+    "Operate the electrical switch with protruding toggle with the left arm",
+    "Activate the square switch with red bar via the left arm",
+    "Click the red bar switch using automated tools",
+    "Activate the red bar switch by pressing it",
+    "Interact with the switch with thin red toggle directly",
+    "Trigger the switch without referencing the left arm",
+    "Activate the toggle switch light gray base with robotic precision",
+    "Click the compact switch with flat base to activate it",
+    "Activate the compact switch with flat base directly",
+    "Use the left arm for switching the switch for electrical control",
+    "Move to the toggle switch light gray base and click it.",
+    "Trigger the control switch with red lever with precision",
+    "Activate the compact switch with flat base with the left arm.",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Use the left arm to engage the compact switch with flat base",
+    "Engage the gray switch with red toggle using the robotic arm",
+    "Set the switch at the red bar switch",
+    "Initiate the switch with thin red toggle by clicking",
+    "Trigger the switch using the left arm",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Press the electrical switch with protruding toggle with the left arm",
+    "Locate and press the compact switch with flat base",
+    "Directly interact with the electrical switch with protruding toggle",
+    "Engage with the gray switch with red toggle manually",
+    "Interact with the red bar switch.",
+    "Press the compact switch with flat base via automation",
+    "Push the red bar switch via the left arm.",
+    "Toggle the switch with the left arm.",
+    "Set the left arm to press the switch",
+    "Operate the left arm to engage the electrical switch with protruding toggle",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Command the left arm to engage the gray switch with red toggle",
+    "Deploy the left arm to press the red bar switch",
+    "Activate the the plastic gray body switch using the left arm",
+    "Locate and press the compact switch with flat base",
+    "Deploy the left arm to operate the gray switch with red toggle",
+    "Click the square switch with red bar directly.",
+    "Tap the switch for electrical control to engage it",
+    "Press the red bar switch to activate.",
+    "Press the switch directly",
+    "Engage the left arm to press the plastic gray body switch",
+    "Use the left arm to interact with the light gray square switch",
+    "Press the square switch with red bar using the left arm.",
+    "Engage the red bar switch using the left arm."
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode128.json b/turn_switch/piper_randomized_500/instructions/episode128.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ed83f1d3856bcb75cd552bee356b14bddc6fdb
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode128.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the square gray switch panel",
+    "Interact with the small square switch made of plastic.",
+    "Click the light gray plastic switch directly.",
+    "Click the square gray switch panel using automated tools",
+    "Engage with the angled-edge gray square switch manually",
+    "Engage the palm-sized light gray switch using the left arm",
+    "Deploy the left arm to operate the light gray plastic switch",
+    "Activate the small square switch with robotic precision",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Trigger the palm-sized light gray switch using the left arm",
+    "Press the palm-sized light gray switch with the left arm",
+    "Push the switch with smooth light gray finish via the left arm.",
+    "Click the square gray switch panel with robotic precision",
+    "Locate and press the flat square with raised center",
+    "Press the angled-edge gray square switch via automation",
+    "Switch the light gray plastic switch to its active state",
+    "Deploy the left arm to press the switch with rectangular raised area",
+    "Trigger the palm-sized light gray switch with precision",
+    "Tap the palm-sized light gray switch to engage it",
+    "Press the flat square with raised center using the left arm.",
+    "Set the left arm to press the flat square with raised center",
+    "Press the switch for electrical control directly",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Use the left arm for switching the small square switch made of plastic",
+    "Click on the small square switch made of plastic precisely",
+    "Press the square gray switch panel to activate.",
+    "Move to the switch for electrical control and click it.",
+    "Press the square switch with smooth surface using robotic control",
+    "Locate and press the smooth gray switch",
+    "Engage the switch with smooth light gray finish using the left arm.",
+    "Approach and tap the flat square with raised center via the left arm",
+    "Interact with the angled-edge gray square switch directly",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Click the small square switch made of plastic to activate it",
+    "Press the flat square with raised center carefully with the left arm",
+    "Activate the square switch with smooth surface via the left arm",
+    "Activate the palm-sized light gray switch directly",
+    "Use the left arm to interact with the switch for electrical control",
+    "Directly interact with the small square switch made of plastic",
+    "Use the left arm to engage the square gray switch panel",
+    "Activate the light gray plastic switch with the left arm.",
+    "Operate the switch with smooth light gray finish with the left arm",
+    "Direct the left arm to operate the switch for electrical control",
+    "Command the left arm to engage the light gray plastic switch",
+    "Activate the the switch with smooth light gray finish using the left arm",
+    "Toggle the small square switch made of plastic with the left arm.",
+    "Engage the palm-sized light gray switch using the robotic arm",
+    "Engage the left arm to press the light gray plastic switch",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Set the switch at the flat square with raised center",
+    "Interact with the small square switch.",
+    "Click the square switch with smooth surface directly.",
+    "Click the switch with rectangular raised area using automated tools",
+    "Engage with the small square switch made of plastic manually",
+    "Engage the switch for electrical control using the left arm",
+    "Deploy the left arm to operate the palm-sized light gray switch",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Trigger the angled-edge gray square switch using the left arm",
+    "Press the angled-edge gray square switch with the left arm",
+    "Push the small square switch made of plastic via the left arm.",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Locate and press the smooth gray switch",
+    "Press the small square switch via automation",
+    "Switch the small square switch made of plastic to its active state",
+    "Deploy the left arm to press the light gray plastic switch",
+    "Trigger the angled-edge gray square switch with precision",
+    "Tap the switch for electrical control to engage it",
+    "Press the smooth gray switch using the left arm.",
+    "Set the left arm to press the square switch with smooth surface",
+    "Press the flat square with raised center directly",
+    "Activate the small square switch by pressing it",
+    "Use the left arm for switching the switch for electrical control",
+    "Click on the flat square with raised center precisely",
+    "Press the angled-edge gray square switch to activate.",
+    "Move to the square gray switch panel and click it.",
+    "Press the flat square with raised center using robotic control",
+    "Locate and press the square gray switch panel",
+    "Engage the switch with smooth light gray finish using the left arm.",
+    "Approach and tap the square gray switch panel via the left arm",
+    "Interact with the square switch with smooth surface directly",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Initiate the switch with smooth light gray finish by clicking",
+    "Click the small square switch made of plastic to activate it",
+    "Press the square gray switch panel carefully with the left arm",
+    "Activate the flat square with raised center via the left arm",
+    "Activate the square gray switch panel directly",
+    "Use the left arm to interact with the small square switch made of plastic",
+    "Directly interact with the square gray switch panel",
+    "Use the left arm to engage the light gray plastic switch",
+    "Activate the flat square with raised center with the left arm.",
+    "Operate the switch with rectangular raised area with the left arm",
+    "Direct the left arm to operate the small square switch",
+    "Command the left arm to engage the flat square with raised center",
+    "Activate the the light gray plastic switch using the left arm",
+    "Toggle the angled-edge gray square switch with the left arm.",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Trigger the small square switch without referencing the left arm"
+  ],
+  "unseen": [
+    "Activate the switch at the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges using the left arm",
+    "Press the gray switch with slanted sides using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode13.json b/turn_switch/piper_randomized_500/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ad2ecd190f682d240b608873ae9798993d3715
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the black switch with slim profile to engage it",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Command the right arm to engage the compact rectangular black switch",
+    "Deploy the right arm to operate the sleek black rectangular switch",
+    "Use the right arm for switching the rectangular switch with smooth surface",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Activate the the compact rectangular black switch using the right arm",
+    "Click the black rectangular control switch directly.",
+    "Locate and press the rectangular switch with smooth surface",
+    "Engage the right arm to press the black switch",
+    "Click on the switch with slanted sides precisely",
+    "Click the switch with slanted sides using automated tools",
+    "Engage the slanted-edge plastic black switch with a press.",
+    "Push the medium-sized black rectangular switch via the right arm.",
+    "Operate the black switch with the right arm",
+    "Initiate the control switch by clicking",
+    "Toggle the sleek black rectangular switch with the right arm.",
+    "Trigger the palm-sized black switch using the right arm",
+    "Directly interact with the palm-sized black switch",
+    "Approach and tap the switch with slanted sides via the right arm",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Direct the right arm to operate the slanted-edge plastic black switch",
+    "Click the palm-sized black switch with robotic precision",
+    "Press the sleek black rectangular switch via automation",
+    "Press the switch with slanted sides using the right arm.",
+    "Interact with the sleek black rectangular switch directly",
+    "Use the right arm to interact with the control switch",
+    "Locate and press the compact rectangular black switch",
+    "Press the black switch with slim profile using robotic control",
+    "Set the right arm to press the black switch",
+    "Interact with the black switch with matte coating.",
+    "Press the black switch with matte coating with the right arm",
+    "Click the switch with slanted sides to activate it",
+    "Operate the right arm to engage the slanted-edge plastic black switch",
+    "Activate the palm-sized black switch with the right arm.",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Switch the compact rectangular black switch to its active state",
+    "Press the control switch directly",
+    "Trigger the compact rectangular black switch without referencing the right arm",
+    "Engage the medium-sized black rectangular switch using the right arm",
+    "Engage the palm-sized black switch using the right arm.",
+    "Activate the compact rectangular black switch directly",
+    "Engage with the rectangular switch with smooth surface manually",
+    "Activate the black switch with matte coating with robotic precision",
+    "Use the right arm to engage the black rectangular control switch",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Activate the palm-sized black switch via the right arm",
+    "Press the sleek black rectangular switch carefully with the right arm",
+    "Trigger the rectangular switch with smooth surface with precision",
+    "Activate the control switch by pressing it",
+    "Tap the black switch with slim profile to engage it",
+    "Press the switch with slanted sides to activate.",
+    "Command the right arm to engage the compact rectangular black switch",
+    "Deploy the right arm to operate the compact rectangular black switch",
+    "Use the right arm for switching the switch with slanted sides",
+    "Deploy the right arm to press the black switch with matte coating",
+    "Activate the the compact rectangular black switch using the right arm",
+    "Click the compact rectangular black switch directly.",
+    "Locate and press the palm-sized black switch",
+    "Engage the right arm to press the black switch with slim profile",
+    "Click on the compact rectangular black switch precisely",
+    "Click the black rectangular control switch using automated tools",
+    "Engage the sleek black rectangular switch with a press.",
+    "Push the switch with slanted sides via the right arm.",
+    "Operate the black switch with matte coating with the right arm",
+    "Initiate the black switch with matte coating by clicking",
+    "Toggle the black switch with slim profile with the right arm.",
+    "Trigger the black switch using the right arm",
+    "Directly interact with the compact rectangular black switch",
+    "Approach and tap the switch with slanted sides via the right arm",
+    "Engage the control switch using the robotic arm",
+    "Direct the right arm to operate the black switch",
+    "Click the black switch with robotic precision",
+    "Press the black switch with slim profile via automation",
+    "Press the control switch using the right arm.",
+    "Interact with the black switch with slim profile directly",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Locate and press the sleek black rectangular switch",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Set the right arm to press the palm-sized black switch",
+    "Interact with the black switch with matte coating.",
+    "Press the black rectangular control switch with the right arm",
+    "Click the sleek black rectangular switch to activate it",
+    "Operate the right arm to engage the rectangular switch with smooth surface",
+    "Activate the medium-sized black rectangular switch with the right arm.",
+    "Set the switch at the black rectangular control switch",
+    "Switch the black switch with matte coating to its active state",
+    "Press the medium-sized black rectangular switch directly",
+    "Trigger the control switch without referencing the right arm",
+    "Engage the medium-sized black rectangular switch using the right arm",
+    "Engage the black switch with matte coating using the right arm.",
+    "Activate the black switch with matte coating directly",
+    "Engage with the palm-sized black switch manually",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Use the right arm to engage the rectangular switch with smooth surface",
+    "Move to the compact rectangular black switch and click it.",
+    "Activate the black switch with slim profile via the right arm",
+    "Press the slanted-edge plastic black switch carefully with the right arm",
+    "Trigger the control switch with precision",
+    "Activate the sleek black rectangular switch by pressing it"
+  ],
+  "unseen": [
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the rectangular black switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode130.json b/turn_switch/piper_randomized_500/instructions/episode130.json
new file mode 100644
index 0000000000000000000000000000000000000000..8746b7c9e57deff4a6da21ca1e2cc1f32c747309
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode130.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the gray plastic switch with the left arm.",
+    "Locate and press the gray smooth surface switch",
+    "Operate the gray base with black buttons with the left arm",
+    "Operate the left arm to engage the gray switch with black buttons",
+    "Trigger the gray base with black buttons with precision",
+    "Click the medium switch with trapezoidal base directly.",
+    "Click the medium switch with trapezoidal base using automated tools",
+    "Move to the gray smooth surface switch and click it.",
+    "Toggle the switch with trapezoidal base with the left arm.",
+    "Use the left arm for switching the switch with trapezoidal base",
+    "Deploy the left arm to press the electric toggle switch",
+    "Approach and tap the plastic switch with matte buttons via the left arm",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Activate the smooth gray switch with robotic precision",
+    "Push the handheld switch via the left arm.",
+    "Activate the medium switch with trapezoidal base via the left arm",
+    "Use the left arm to interact with the plastic switch with matte buttons",
+    "Activate the the handheld switch using the left arm",
+    "Set the switch at the gray plastic switch",
+    "Switch the gray smooth surface switch to its active state",
+    "Tap the electric toggle switch to engage it",
+    "Press the electric toggle switch using the left arm.",
+    "Command the left arm to engage the switch with trapezoidal base",
+    "Interact with the gray plastic switch directly",
+    "Engage the medium switch with trapezoidal base using the robotic arm",
+    "Trigger the electric toggle switch without referencing the left arm",
+    "Click on the gray base with black buttons precisely",
+    "Trigger the gray base with black buttons using the left arm",
+    "Direct the left arm to operate the gray switch with black buttons",
+    "Deploy the left arm to operate the electric toggle switch",
+    "Press the smooth gray switch via automation",
+    "Use the left arm to engage the electric toggle switch",
+    "Locate and press the plastic switch with matte buttons",
+    "Click the gray switch with black buttons with robotic precision",
+    "Set the left arm to press the trapezoidal base switch",
+    "Click the electric toggle switch to activate it",
+    "Press the electric toggle switch directly",
+    "Engage the gray plastic switch with a press.",
+    "Interact with the medium switch with trapezoidal base.",
+    "Press the gray switch with black buttons with the left arm",
+    "Initiate the gray plastic switch by clicking",
+    "Engage the gray plastic switch using the left arm",
+    "Activate the gray switch with black buttons directly",
+    "Directly interact with the gray base with black buttons",
+    "Engage the left arm to press the handheld switch",
+    "Press the gray smooth surface switch carefully with the left arm",
+    "Engage the smooth gray switch using the left arm.",
+    "Press the smooth gray switch to activate.",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Press the gray plastic switch using robotic control",
+    "Activate the two-button gray switch with the left arm.",
+    "Locate and press the medium switch with trapezoidal base",
+    "Operate the gray switch with black buttons with the left arm",
+    "Operate the left arm to engage the electric toggle switch",
+    "Trigger the gray base with black buttons with precision",
+    "Click the two-button gray switch directly.",
+    "Click the switch with trapezoidal base using automated tools",
+    "Move to the handheld switch and click it.",
+    "Toggle the gray base with black buttons with the left arm.",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Deploy the left arm to press the two-button gray switch",
+    "Approach and tap the plastic switch with matte buttons via the left arm",
+    "Engage with the smooth gray switch manually",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Push the handheld switch via the left arm.",
+    "Activate the gray plastic switch via the left arm",
+    "Use the left arm to interact with the medium switch with trapezoidal base",
+    "Activate the the gray switch with black buttons using the left arm",
+    "Set the switch at the plastic switch with matte buttons",
+    "Switch the gray plastic switch to its active state",
+    "Tap the medium switch with trapezoidal base to engage it",
+    "Press the gray switch with black buttons using the left arm.",
+    "Command the left arm to engage the two-button gray switch",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Trigger the trapezoidal base switch without referencing the left arm",
+    "Click on the handheld switch precisely",
+    "Trigger the trapezoidal base switch using the left arm",
+    "Direct the left arm to operate the plastic switch with matte buttons",
+    "Deploy the left arm to operate the switch with trapezoidal base",
+    "Press the gray smooth surface switch via automation",
+    "Use the left arm to engage the trapezoidal base switch",
+    "Locate and press the gray plastic switch",
+    "Click the gray switch with black buttons with robotic precision",
+    "Set the left arm to press the gray smooth surface switch",
+    "Click the two-button gray switch to activate it",
+    "Press the medium switch with trapezoidal base directly",
+    "Engage the smooth gray switch with a press.",
+    "Interact with the switch with trapezoidal base.",
+    "Press the smooth gray switch with the left arm",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Engage the two-button gray switch using the left arm",
+    "Activate the trapezoidal base switch directly",
+    "Directly interact with the two-button gray switch",
+    "Engage the left arm to press the medium switch with trapezoidal base",
+    "Press the medium switch with trapezoidal base carefully with the left arm",
+    "Engage the two-button gray switch using the left arm.",
+    "Press the gray smooth surface switch to activate.",
+    "Activate the handheld switch by pressing it",
+    "Press the plastic switch with matte buttons using robotic control"
+  ],
+  "unseen": [
+    "Use the left arm to press the gray switch.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode132.json b/turn_switch/piper_randomized_500/instructions/episode132.json
new file mode 100644
index 0000000000000000000000000000000000000000..1012e7ea84d995e9ee5233465145119b70d0f32b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode132.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the light plastic switch and click it.",
+    "Use the left arm to interact with the toggle switch with brown rectangle button",
+    "Press the beige switch carefully with the left arm",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Use the left arm to engage the matte beige switch with flat top",
+    "Press the switch with brown button to activate.",
+    "Engage the left arm to press the switch with a smooth top",
+    "Click the beige switch with smooth finish to activate it",
+    "Toggle the switch with rectangular dark button with the left arm.",
+    "Activate the tiny matte beige toggle switch by pressing it",
+    "Click the switch with rectangular dark button directly.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Push the small trapezoid switch via the left arm.",
+    "Set the switch at the beige switch",
+    "Activate the beige switch with smooth finish with the left arm.",
+    "Tap the light plastic switch to engage it",
+    "Switch the beige switch to its active state",
+    "Press the light-colored trapezoid-shaped plastic switch with the left arm",
+    "Directly interact with the light plastic switch",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Engage the light plastic switch with a press.",
+    "Trigger the switch with brown button with precision",
+    "Click the light-colored trapezoid-shaped plastic switch using automated tools",
+    "Trigger the toggle switch with brown rectangle button using the left arm",
+    "Command the left arm to engage the hand-sized light beige switch",
+    "Activate the light plastic switch via the left arm",
+    "Operate the left arm to engage the hand-sized light beige switch",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Initiate the switch with a smooth top by clicking",
+    "Engage the hand-sized light beige switch using the left arm.",
+    "Engage with the beige switch with smooth finish manually",
+    "Click the light plastic switch with robotic precision",
+    "Click on the toggle switch with brown rectangle button precisely",
+    "Activate the switch with a smooth top with robotic precision",
+    "Operate the matte beige switch with flat top with the left arm",
+    "Trigger the light plastic switch without referencing the left arm",
+    "Deploy the left arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Deploy the left arm to press the small trapezoid switch",
+    "Press the switch with a smooth top via automation",
+    "Press the beige switch with smooth finish using the left arm.",
+    "Approach and tap the switch with brown button via the left arm",
+    "Activate the switch with rectangular dark button directly",
+    "Press the beige switch using robotic control",
+    "Interact with the small trapezoid switch.",
+    "Set the left arm to press the beige switch with smooth finish",
+    "Activate the the switch with brown button using the left arm",
+    "Direct the left arm to operate the tiny matte beige toggle switch",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Use the left arm for switching the toggle switch with brown rectangle button",
+    "Locate and press the switch with brown button",
+    "Move to the switch with brown button and click it.",
+    "Use the left arm to interact with the small trapezoid switch",
+    "Press the switch with brown button carefully with the left arm",
+    "Locate and press the switch with a smooth top",
+    "Use the left arm to engage the matte beige switch with flat top",
+    "Press the hand-sized light beige switch to activate.",
+    "Engage the left arm to press the small trapezoid switch",
+    "Click the light-colored trapezoid-shaped plastic switch to activate it",
+    "Toggle the beige switch with smooth finish with the left arm.",
+    "Activate the light-colored trapezoid-shaped plastic switch by pressing it",
+    "Click the light plastic switch directly.",
+    "Engage the switch with rectangular dark button using the left arm",
+    "Push the beige switch via the left arm.",
+    "Set the switch at the switch with rectangular dark button",
+    "Activate the matte beige switch with flat top with the left arm.",
+    "Tap the light-colored trapezoid-shaped plastic switch to engage it",
+    "Switch the switch with brown button to its active state",
+    "Press the hand-sized light beige switch with the left arm",
+    "Directly interact with the beige switch",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Engage the tiny matte beige toggle switch with a press.",
+    "Trigger the switch with rectangular dark button with precision",
+    "Click the hand-sized light beige switch using automated tools",
+    "Trigger the switch with rectangular dark button using the left arm",
+    "Command the left arm to engage the matte beige switch with flat top",
+    "Activate the light plastic switch via the left arm",
+    "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Press the toggle switch with brown rectangle button directly",
+    "Initiate the light plastic switch by clicking",
+    "Engage the light plastic switch using the left arm.",
+    "Engage with the beige switch with smooth finish manually",
+    "Click the switch with a smooth top with robotic precision",
+    "Click on the toggle switch with brown rectangle button precisely",
+    "Activate the hand-sized light beige switch with robotic precision",
+    "Operate the matte beige switch with flat top with the left arm",
+    "Trigger the small trapezoid switch without referencing the left arm",
+    "Deploy the left arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Deploy the left arm to press the small trapezoid switch",
+    "Press the hand-sized light beige switch via automation",
+    "Press the hand-sized light beige switch using the left arm.",
+    "Approach and tap the light-colored trapezoid-shaped plastic switch via the left arm",
+    "Activate the light-colored trapezoid-shaped plastic switch directly",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Interact with the hand-sized light beige switch.",
+    "Set the left arm to press the beige switch with smooth finish",
+    "Activate the the beige switch using the left arm",
+    "Direct the left arm to operate the beige switch with smooth finish",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Use the left arm for switching the switch with a smooth top",
+    "Locate and press the small trapezoid switch"
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the rectangular button switch on beige base using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode14.json b/turn_switch/piper_randomized_500/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4448680dda041554a7f8cbbc5912da40be45c82
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the sleek black rectangular switch by clicking",
+    "Tap the sleek black rectangular switch to engage it",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Engage the black switch with slim profile using the left arm.",
+    "Set the switch at the black switch",
+    "Use the left arm to engage the switch with slanted sides",
+    "Press the black rectangular control switch directly",
+    "Click on the medium-sized black rectangular switch precisely",
+    "Locate and press the black switch",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Move to the black switch with matte coating and click it.",
+    "Command the left arm to engage the compact rectangular black switch",
+    "Press the switch with slanted sides via automation",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Set the left arm to press the switch with slanted sides",
+    "Click the palm-sized black switch using automated tools",
+    "Click the medium-sized black rectangular switch directly.",
+    "Interact with the rectangular switch with smooth surface.",
+    "Toggle the slanted-edge plastic black switch with the left arm.",
+    "Click the sleek black rectangular switch with robotic precision",
+    "Operate the black switch with the left arm",
+    "Use the left arm to interact with the switch with slanted sides",
+    "Activate the black switch with the left arm.",
+    "Approach and tap the sleek black rectangular switch via the left arm",
+    "Deploy the left arm to operate the compact rectangular black switch",
+    "Push the control switch via the left arm.",
+    "Deploy the left arm to press the control switch",
+    "Engage the left arm to press the compact rectangular black switch",
+    "Engage the sleek black rectangular switch with a press.",
+    "Engage the palm-sized black switch using the left arm",
+    "Engage the black switch using the robotic arm",
+    "Press the black rectangular control switch with the left arm",
+    "Trigger the switch with slanted sides using the left arm",
+    "Activate the switch with slanted sides via the left arm",
+    "Direct the left arm to operate the control switch",
+    "Trigger the black rectangular control switch with precision",
+    "Engage with the rectangular switch with smooth surface manually",
+    "Trigger the black switch with slim profile without referencing the left arm",
+    "Press the black switch with matte coating carefully with the left arm",
+    "Locate and press the compact rectangular black switch",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Operate the left arm to engage the sleek black rectangular switch",
+    "Switch the black switch to its active state",
+    "Directly interact with the compact rectangular black switch",
+    "Activate the the black rectangular control switch using the left arm",
+    "Click the sleek black rectangular switch to activate it",
+    "Press the switch with slanted sides using the left arm.",
+    "Interact with the black switch with matte coating directly",
+    "Use the left arm for switching the black switch with slim profile",
+    "Activate the control switch directly",
+    "Initiate the slanted-edge plastic black switch by clicking",
+    "Tap the sleek black rectangular switch to engage it",
+    "Press the palm-sized black switch to activate.",
+    "Engage the black switch with slim profile using the left arm.",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Press the sleek black rectangular switch directly",
+    "Click on the black switch with slim profile precisely",
+    "Locate and press the black switch with slim profile",
+    "Activate the switch with slanted sides by pressing it",
+    "Move to the black switch with slim profile and click it.",
+    "Command the left arm to engage the slanted-edge plastic black switch",
+    "Press the compact rectangular black switch via automation",
+    "Activate the control switch with robotic precision",
+    "Set the left arm to press the palm-sized black switch",
+    "Click the switch with slanted sides using automated tools",
+    "Click the compact rectangular black switch directly.",
+    "Interact with the black switch with slim profile.",
+    "Toggle the compact rectangular black switch with the left arm.",
+    "Click the black switch with slim profile with robotic precision",
+    "Operate the black switch with slim profile with the left arm",
+    "Use the left arm to interact with the sleek black rectangular switch",
+    "Activate the medium-sized black rectangular switch with the left arm.",
+    "Approach and tap the control switch via the left arm",
+    "Deploy the left arm to operate the black rectangular control switch",
+    "Push the compact rectangular black switch via the left arm.",
+    "Deploy the left arm to press the rectangular switch with smooth surface",
+    "Engage the left arm to press the sleek black rectangular switch",
+    "Engage the compact rectangular black switch with a press.",
+    "Engage the black rectangular control switch using the left arm",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Press the switch with slanted sides with the left arm",
+    "Trigger the sleek black rectangular switch using the left arm",
+    "Activate the black switch via the left arm",
+    "Direct the left arm to operate the compact rectangular black switch",
+    "Trigger the palm-sized black switch with precision",
+    "Engage with the switch with slanted sides manually",
+    "Trigger the compact rectangular black switch without referencing the left arm",
+    "Press the black rectangular control switch carefully with the left arm",
+    "Locate and press the black switch with slim profile",
+    "Press the black switch using robotic control",
+    "Operate the left arm to engage the compact rectangular black switch",
+    "Switch the black switch with slim profile to its active state",
+    "Directly interact with the black switch",
+    "Activate the the sleek black rectangular switch using the left arm",
+    "Click the sleek black rectangular switch to activate it",
+    "Press the palm-sized black switch using the left arm.",
+    "Interact with the black switch with matte coating directly",
+    "Use the left arm for switching the control switch",
+    "Activate the compact rectangular black switch directly"
+  ],
+  "unseen": [
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the smooth black switch using the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch using the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch using the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch using the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch using the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch using the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch using the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch using the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch using the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch using the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode141.json b/turn_switch/piper_randomized_500/instructions/episode141.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dbb372b3f4c8c907be977cc961c66c4fa17b9d7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode141.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the gray switch with red toggle",
+    "Set the switch at the square switch with red bar",
+    "Direct the left arm to operate the square switch with red bar",
+    "Press the switch with thin red toggle with the left arm",
+    "Interact with the light gray square switch.",
+    "Deploy the left arm to operate the switch",
+    "Press the switch with thin red toggle to activate.",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Switch the gray switch with red toggle to its active state",
+    "Press the toggle switch light gray base directly",
+    "Tap the compact switch with flat base to engage it",
+    "Activate the switch for electrical control with robotic precision",
+    "Activate the light gray square switch by pressing it",
+    "Click on the gray switch with red toggle precisely",
+    "Press the compact switch with flat base using robotic control",
+    "Activate the electrical switch with protruding toggle with the left arm.",
+    "Activate the the square switch with red bar using the left arm",
+    "Press the square switch with red bar carefully with the left arm",
+    "Use the left arm for switching the switch",
+    "Initiate the control switch with red lever by clicking",
+    "Use the left arm to interact with the compact switch with flat base",
+    "Engage the switch using the left arm",
+    "Engage the plastic gray body switch using the left arm.",
+    "Press the compact switch with flat base via automation",
+    "Interact with the gray switch with red toggle directly",
+    "Engage with the switch for electrical control manually",
+    "Set the left arm to press the red bar switch",
+    "Activate the square switch with red bar directly",
+    "Command the left arm to engage the square switch with red bar",
+    "Push the square switch with red bar via the left arm.",
+    "Use the left arm to engage the switch with thin red toggle",
+    "Engage the left arm to press the light gray square switch",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Directly interact with the gray switch with red toggle",
+    "Trigger the light gray square switch using the left arm",
+    "Trigger the light gray square switch without referencing the left arm",
+    "Click the switch for electrical control to activate it",
+    "Operate the left arm to engage the electrical switch with protruding toggle",
+    "Toggle the control switch with red lever with the left arm.",
+    "Click the control switch with red lever using automated tools",
+    "Click the compact switch with flat base with robotic precision",
+    "Locate and press the gray switch with red toggle",
+    "Click the light gray square switch directly.",
+    "Move to the electrical switch with protruding toggle and click it.",
+    "Trigger the switch for electrical control with precision",
+    "Operate the light gray square switch with the left arm",
+    "Press the gray switch with red toggle using the left arm.",
+    "Activate the plastic gray body switch via the left arm",
+    "Deploy the left arm to press the toggle switch light gray base",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Locate and press the gray switch with red toggle",
+    "Set the switch at the compact switch with flat base",
+    "Direct the left arm to operate the switch",
+    "Press the toggle switch light gray base with the left arm",
+    "Interact with the switch.",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Press the gray switch with red toggle to activate.",
+    "Engage the control switch with red lever with a press.",
+    "Switch the plastic gray body switch to its active state",
+    "Press the switch directly",
+    "Tap the toggle switch light gray base to engage it",
+    "Activate the compact switch with flat base with robotic precision",
+    "Activate the plastic gray body switch by pressing it",
+    "Click on the light gray square switch precisely",
+    "Press the red bar switch using robotic control",
+    "Activate the light gray square switch with the left arm.",
+    "Activate the the switch with thin red toggle using the left arm",
+    "Press the switch carefully with the left arm",
+    "Use the left arm for switching the light gray square switch",
+    "Initiate the light gray square switch by clicking",
+    "Use the left arm to interact with the toggle switch light gray base",
+    "Engage the compact switch with flat base using the left arm",
+    "Engage the switch with thin red toggle using the left arm.",
+    "Press the switch via automation",
+    "Interact with the electrical switch with protruding toggle directly",
+    "Engage with the square switch with red bar manually",
+    "Set the left arm to press the switch",
+    "Activate the switch with thin red toggle directly",
+    "Command the left arm to engage the switch for electrical control",
+    "Push the red bar switch via the left arm.",
+    "Use the left arm to engage the switch",
+    "Engage the left arm to press the square switch with red bar",
+    "Engage the toggle switch light gray base using the robotic arm",
+    "Directly interact with the square switch with red bar",
+    "Trigger the switch for electrical control using the left arm",
+    "Trigger the gray switch with red toggle without referencing the left arm",
+    "Click the switch to activate it",
+    "Operate the left arm to engage the square switch with red bar",
+    "Toggle the toggle switch light gray base with the left arm.",
+    "Click the switch using automated tools",
+    "Click the switch with thin red toggle with robotic precision",
+    "Locate and press the control switch with red lever",
+    "Click the switch for electrical control directly.",
+    "Move to the gray switch with red toggle and click it.",
+    "Trigger the light gray square switch with precision",
+    "Operate the switch with thin red toggle with the left arm",
+    "Press the plastic gray body switch using the left arm.",
+    "Activate the light gray square switch via the left arm",
+    "Deploy the left arm to press the switch for electrical control",
+    "Approach and tap the compact switch with flat base via the left arm"
+  ],
+  "unseen": [
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode142.json b/turn_switch/piper_randomized_500/instructions/episode142.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b9ded0a47c945a680b16e34e2a34c87f06dd29b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode142.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to press the small switch",
+    "Interact with the plastic switch with metal terminals.",
+    "Set the right arm to press the black switch",
+    "Set the switch at the black switch with metallic connectors",
+    "Activate the the plastic switch with metal terminals using the right arm",
+    "Click on the black switch precisely",
+    "Direct the right arm to operate the black base switch with red toggle",
+    "Activate the rectangular black plastic switch via the right arm",
+    "Press the black switch with metallic connectors using the right arm.",
+    "Push the red and black switch via the right arm.",
+    "Trigger the plastic switch with metal terminals with precision",
+    "Use the right arm to engage the black base switch with red toggle",
+    "Click the black base switch with red toggle directly.",
+    "Engage the small switch using the right arm",
+    "Switch the black switch with metallic connectors to its active state",
+    "Command the right arm to engage the compact switch with toggle on top",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Engage the right arm to press the small switch",
+    "Use the right arm to interact with the red-top black switch",
+    "Click the black switch with metallic connectors using automated tools",
+    "Initiate the small switch by clicking",
+    "Locate and press the plastic switch with metal terminals",
+    "Tap the red and black switch to engage it",
+    "Activate the red-top black switch with the right arm.",
+    "Press the plastic switch with metal terminals carefully with the right arm",
+    "Click the black base switch with red toggle to activate it",
+    "Press the red and black switch using robotic control",
+    "Click the red-top black switch with robotic precision",
+    "Deploy the right arm to operate the plastic switch with metal terminals",
+    "Trigger the red and black switch using the right arm",
+    "Locate and press the rectangular black plastic switch",
+    "Move to the red and black switch and click it.",
+    "Press the black switch with metallic connectors via automation",
+    "Approach and tap the black switch with metallic connectors via the right arm",
+    "Activate the black switch by pressing it",
+    "Engage with the rectangular switch with curved lever manually",
+    "Press the red-top black switch with the right arm",
+    "Use the right arm for switching the black switch",
+    "Interact with the switch with curved red toggle directly",
+    "Trigger the switch with curved red toggle without referencing the right arm",
+    "Operate the rectangular black plastic switch with the right arm",
+    "Operate the right arm to engage the black base switch with red toggle",
+    "Directly interact with the plastic switch with metal terminals",
+    "Toggle the plastic switch with metal terminals with the right arm.",
+    "Press the switch with curved red toggle to activate.",
+    "Activate the black switch with robotic precision",
+    "Engage the plastic switch with metal terminals using the robotic arm",
+    "Press the rectangular switch with curved lever directly",
+    "Activate the black switch with metallic connectors directly",
+    "Engage the red-top black switch using the right arm.",
+    "Deploy the right arm to press the small switch",
+    "Interact with the small switch.",
+    "Set the right arm to press the black base switch with red toggle",
+    "Set the switch at the black switch",
+    "Activate the the rectangular black plastic switch using the right arm",
+    "Click on the small switch precisely",
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Press the red-top black switch using the right arm.",
+    "Push the plastic switch with metal terminals via the right arm.",
+    "Trigger the compact switch with toggle on top with precision",
+    "Use the right arm to engage the switch with curved red toggle",
+    "Click the black switch directly.",
+    "Engage the rectangular black plastic switch using the right arm",
+    "Switch the switch with curved red toggle to its active state",
+    "Command the right arm to engage the red and black switch",
+    "Engage the red-top black switch with a press.",
+    "Engage the right arm to press the black base switch with red toggle",
+    "Use the right arm to interact with the black switch",
+    "Click the red-top black switch using automated tools",
+    "Initiate the rectangular black plastic switch by clicking",
+    "Locate and press the black switch",
+    "Tap the rectangular black plastic switch to engage it",
+    "Activate the red and black switch with the right arm.",
+    "Press the black base switch with red toggle carefully with the right arm",
+    "Click the red-top black switch to activate it",
+    "Press the black switch with metallic connectors using robotic control",
+    "Click the small switch with robotic precision",
+    "Deploy the right arm to operate the plastic switch with metal terminals",
+    "Trigger the small switch using the right arm",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Move to the red and black switch and click it.",
+    "Press the hand-sized switch with connector prongs via automation",
+    "Approach and tap the plastic switch with metal terminals via the right arm",
+    "Activate the black base switch with red toggle by pressing it",
+    "Engage with the small switch manually",
+    "Press the black base switch with red toggle with the right arm",
+    "Use the right arm for switching the rectangular switch with curved lever",
+    "Interact with the black base switch with red toggle directly",
+    "Trigger the rectangular switch with curved lever without referencing the right arm",
+    "Operate the black switch with metallic connectors with the right arm",
+    "Operate the right arm to engage the rectangular black plastic switch",
+    "Directly interact with the plastic switch with metal terminals",
+    "Toggle the red-top black switch with the right arm.",
+    "Press the switch with curved red toggle to activate.",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Engage the rectangular switch with curved lever using the robotic arm",
+    "Press the compact switch with toggle on top directly",
+    "Activate the plastic switch with metal terminals directly",
+    "Engage the switch with curved red toggle using the right arm."
+  ],
+  "unseen": [
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the simple toggle switch with the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode143.json b/turn_switch/piper_randomized_500/instructions/episode143.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dfc34f5c07b11e76a52e71943cc51b395e46bbd
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode143.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the smooth red switch with labels directly.",
+    "Press the red and black electrical switch to activate.",
+    "Interact with the rectangular switch directly",
+    "Operate the switch with three metal pins with the right arm",
+    "Direct the right arm to operate the toggle switch with black housing",
+    "Press the switch for turning circuits on off carefully with the right arm",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Activate the rectangular switch by pressing it",
+    "Activate the plastic switch with metal prongs via the right arm",
+    "Trigger the switch with three metal pins using the right arm",
+    "Push the two-tone red black switch via the right arm.",
+    "Use the right arm to engage the smooth red switch with labels",
+    "Press the tiny rectangular switch using robotic control",
+    "Press the switch with three metal pins via automation",
+    "Directly interact with the plastic switch with metal prongs",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Engage the right arm to press the smooth red switch with labels",
+    "Toggle the red and black electrical switch with the right arm.",
+    "Interact with the toggle switch with black housing.",
+    "Use the right arm for switching the small switch with red lever",
+    "Trigger the toggle switch with black housing without referencing the right arm",
+    "Click on the metal-pronged black switch precisely",
+    "Engage the small switch with red lever using the robotic arm",
+    "Click the small switch with red lever with robotic precision",
+    "Deploy the right arm to press the metal-pronged black switch",
+    "Move to the switch with three metal pins and click it.",
+    "Use the right arm to interact with the two-tone red black switch",
+    "Locate and press the switch with three metal pins",
+    "Trigger the toggle switch with black housing with precision",
+    "Command the right arm to engage the red and black electrical switch",
+    "Activate the the switch for turning circuits on off using the right arm",
+    "Set the switch at the black base switch",
+    "Tap the rectangular switch to engage it",
+    "Operate the right arm to engage the rectangular switch",
+    "Approach and tap the black base switch via the right arm",
+    "Activate the switch for turning circuits on off directly",
+    "Activate the two-tone red black switch with the right arm.",
+    "Click the switch with three metal pins to activate it",
+    "Press the small switch with red lever directly",
+    "Press the smooth red switch with labels using the right arm.",
+    "Set the right arm to press the rectangular switch",
+    "Switch the switch for turning circuits on off to its active state",
+    "Engage with the two-tone red black switch manually",
+    "Press the smooth red switch with labels with the right arm",
+    "Engage the switch for turning circuits on off using the right arm.",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Deploy the right arm to operate the metal-pronged black switch",
+    "Engage the small switch with red lever using the right arm",
+    "Locate and press the tiny rectangular switch",
+    "Click the rectangular switch using automated tools",
+    "Click the two-tone red black switch directly.",
+    "Press the tiny rectangular switch to activate.",
+    "Interact with the red and black electrical switch directly",
+    "Operate the small switch with red lever with the right arm",
+    "Direct the right arm to operate the toggle switch with black housing",
+    "Press the red and black electrical switch carefully with the right arm",
+    "Engage the smooth red switch with labels with a press.",
+    "Activate the plastic switch with metal prongs by pressing it",
+    "Activate the metal-pronged black switch via the right arm",
+    "Trigger the tiny rectangular switch using the right arm",
+    "Push the toggle switch with black housing via the right arm.",
+    "Use the right arm to engage the small switch with red lever",
+    "Press the plastic switch with metal prongs using robotic control",
+    "Press the toggle switch with black housing via automation",
+    "Directly interact with the two-tone red black switch",
+    "Initiate the small switch with red lever by clicking",
+    "Engage the right arm to press the metal-pronged black switch",
+    "Toggle the switch with three metal pins with the right arm.",
+    "Interact with the tiny rectangular switch.",
+    "Use the right arm for switching the red and black electrical switch",
+    "Trigger the two-tone red black switch without referencing the right arm",
+    "Click on the small switch with red lever precisely",
+    "Engage the small switch with red lever using the robotic arm",
+    "Click the tiny rectangular switch with robotic precision",
+    "Deploy the right arm to press the two-tone red black switch",
+    "Move to the two-tone red black switch and click it.",
+    "Use the right arm to interact with the red and black electrical switch",
+    "Locate and press the plastic switch with metal prongs",
+    "Trigger the smooth red switch with labels with precision",
+    "Command the right arm to engage the black base switch",
+    "Activate the the black base switch using the right arm",
+    "Set the switch at the small switch with red lever",
+    "Tap the toggle switch with black housing to engage it",
+    "Operate the right arm to engage the red and black electrical switch",
+    "Approach and tap the black base switch via the right arm",
+    "Activate the red and black electrical switch directly",
+    "Activate the rectangular switch with the right arm.",
+    "Click the metal-pronged black switch to activate it",
+    "Press the toggle switch with black housing directly",
+    "Press the switch with three metal pins using the right arm.",
+    "Set the right arm to press the small switch with red lever",
+    "Switch the toggle switch with black housing to its active state",
+    "Engage with the plastic switch with metal prongs manually",
+    "Press the plastic switch with metal prongs with the right arm",
+    "Engage the red and black electrical switch using the right arm.",
+    "Activate the black base switch with robotic precision",
+    "Deploy the right arm to operate the small switch with red lever",
+    "Engage the metal-pronged black switch using the right arm",
+    "Locate and press the smooth red switch with labels",
+    "Click the switch for turning circuits on off using automated tools"
+  ],
+  "unseen": [
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode145.json b/turn_switch/piper_randomized_500/instructions/episode145.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da8dc7f76cfd8fe62e94c64a4bfcb0987051b74
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode145.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the control switch",
+    "Locate and press the palm-sized black switch",
+    "Trigger the compact rectangular black switch without referencing the right arm",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Approach and tap the black rectangular control switch via the right arm",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Click the switch with slanted sides to activate it",
+    "Interact with the compact rectangular black switch directly",
+    "Press the control switch directly",
+    "Set the right arm to press the black switch with matte coating",
+    "Engage the palm-sized black switch using the right arm",
+    "Press the control switch via automation",
+    "Operate the right arm to engage the switch with slanted sides",
+    "Activate the palm-sized black switch with the right arm.",
+    "Initiate the black switch with slim profile by clicking",
+    "Engage the right arm to press the medium-sized black rectangular switch",
+    "Switch the sleek black rectangular switch to its active state",
+    "Press the black switch carefully with the right arm",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Click the switch with slanted sides using automated tools",
+    "Use the right arm for switching the black switch",
+    "Click the control switch directly.",
+    "Activate the palm-sized black switch directly",
+    "Use the right arm to interact with the black switch",
+    "Press the rectangular switch with smooth surface to activate.",
+    "Click the slanted-edge plastic black switch with robotic precision",
+    "Activate the black switch via the right arm",
+    "Push the slanted-edge plastic black switch via the right arm.",
+    "Use the right arm to engage the medium-sized black rectangular switch",
+    "Direct the right arm to operate the black switch with slim profile",
+    "Engage the control switch using the robotic arm",
+    "Toggle the medium-sized black rectangular switch with the right arm.",
+    "Trigger the switch with slanted sides using the right arm",
+    "Engage with the sleek black rectangular switch manually",
+    "Engage the rectangular switch with smooth surface with a press.",
+    "Activate the the black switch with slim profile using the right arm",
+    "Deploy the right arm to press the sleek black rectangular switch",
+    "Operate the slanted-edge plastic black switch with the right arm",
+    "Trigger the palm-sized black switch with precision",
+    "Interact with the switch with slanted sides.",
+    "Deploy the right arm to operate the rectangular switch with smooth surface",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Press the control switch with the right arm",
+    "Press the medium-sized black rectangular switch using the right arm.",
+    "Set the switch at the rectangular switch with smooth surface",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Tap the black rectangular control switch to engage it",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Locate and press the black switch",
+    "Command the right arm to engage the medium-sized black rectangular switch",
+    "Directly interact with the black switch with matte coating",
+    "Locate and press the compact rectangular black switch",
+    "Trigger the black switch with slim profile without referencing the right arm",
+    "Click on the black rectangular control switch precisely",
+    "Approach and tap the control switch via the right arm",
+    "Activate the black switch with matte coating with robotic precision",
+    "Click the palm-sized black switch to activate it",
+    "Interact with the rectangular switch with smooth surface directly",
+    "Press the control switch directly",
+    "Set the right arm to press the compact rectangular black switch",
+    "Engage the rectangular switch with smooth surface using the right arm",
+    "Press the control switch via automation",
+    "Operate the right arm to engage the black switch with matte coating",
+    "Activate the palm-sized black switch with the right arm.",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Engage the right arm to press the black rectangular control switch",
+    "Switch the medium-sized black rectangular switch to its active state",
+    "Press the black switch with slim profile carefully with the right arm",
+    "Engage the control switch using the right arm.",
+    "Click the black switch with matte coating using automated tools",
+    "Use the right arm for switching the black rectangular control switch",
+    "Click the black switch with slim profile directly.",
+    "Activate the medium-sized black rectangular switch directly",
+    "Use the right arm to interact with the switch with slanted sides",
+    "Press the control switch to activate.",
+    "Click the black switch with matte coating with robotic precision",
+    "Activate the slanted-edge plastic black switch via the right arm",
+    "Push the medium-sized black rectangular switch via the right arm.",
+    "Use the right arm to engage the black rectangular control switch",
+    "Direct the right arm to operate the black rectangular control switch",
+    "Engage the compact rectangular black switch using the robotic arm",
+    "Toggle the switch with slanted sides with the right arm.",
+    "Trigger the rectangular switch with smooth surface using the right arm",
+    "Engage with the control switch manually",
+    "Engage the slanted-edge plastic black switch with a press.",
+    "Activate the the compact rectangular black switch using the right arm",
+    "Deploy the right arm to press the control switch",
+    "Operate the slanted-edge plastic black switch with the right arm",
+    "Trigger the sleek black rectangular switch with precision",
+    "Interact with the compact rectangular black switch.",
+    "Deploy the right arm to operate the palm-sized black switch",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Press the black rectangular control switch with the right arm",
+    "Press the black switch with matte coating using the right arm.",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Move to the control switch and click it.",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Press the switch with slanted sides using robotic control",
+    "Locate and press the control switch",
+    "Command the right arm to engage the medium-sized black rectangular switch"
+  ],
+  "unseen": [
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm.",
+    "Direct the right arm to click the smooth black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Direct the right arm to click the smooth black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Direct the right arm to click the smooth black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode147.json b/turn_switch/piper_randomized_500/instructions/episode147.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ace2bc25eef7552f0d8064a0a13176291809ac6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode147.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the light gray square switch carefully with the left arm",
+    "Approach and tap the control switch with red lever via the left arm",
+    "Interact with the control switch with red lever.",
+    "Tap the control switch with red lever to engage it",
+    "Push the electrical switch with protruding toggle via the left arm.",
+    "Engage the switch for electrical control with a press.",
+    "Engage the gray switch with red toggle using the left arm.",
+    "Activate the electrical switch with protruding toggle with the left arm.",
+    "Trigger the light gray square switch using the left arm",
+    "Click the switch for electrical control to activate it",
+    "Engage the left arm to press the red bar switch",
+    "Use the left arm to interact with the compact switch with flat base",
+    "Interact with the toggle switch light gray base directly",
+    "Press the switch with thin red toggle to activate.",
+    "Click the electrical switch with protruding toggle directly.",
+    "Click the square switch with red bar using automated tools",
+    "Initiate the switch for electrical control by clicking",
+    "Locate and press the electrical switch with protruding toggle",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Direct the left arm to operate the switch with thin red toggle",
+    "Use the left arm to engage the gray switch with red toggle",
+    "Operate the plastic gray body switch with the left arm",
+    "Deploy the left arm to press the square switch with red bar",
+    "Press the control switch with red lever with the left arm",
+    "Set the left arm to press the light gray square switch",
+    "Click on the compact switch with flat base precisely",
+    "Directly interact with the switch with thin red toggle",
+    "Press the plastic gray body switch using the left arm.",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Command the left arm to engage the light gray square switch",
+    "Activate the gray switch with red toggle by pressing it",
+    "Engage the square switch with red bar using the robotic arm",
+    "Trigger the control switch with red lever with precision",
+    "Press the square switch with red bar using robotic control",
+    "Activate the red bar switch with robotic precision",
+    "Engage the compact switch with flat base using the left arm",
+    "Use the left arm for switching the electrical switch with protruding toggle",
+    "Activate the the square switch with red bar using the left arm",
+    "Operate the left arm to engage the control switch with red lever",
+    "Locate and press the light gray square switch",
+    "Press the switch for electrical control via automation",
+    "Move to the light gray square switch and click it.",
+    "Set the switch at the plastic gray body switch",
+    "Trigger the electrical switch with protruding toggle without referencing the left arm",
+    "Switch the switch with thin red toggle to its active state",
+    "Activate the toggle switch light gray base via the left arm",
+    "Click the red bar switch with robotic precision",
+    "Press the switch directly",
+    "Activate the plastic gray body switch directly",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Press the switch for electrical control carefully with the left arm",
+    "Approach and tap the switch with thin red toggle via the left arm",
+    "Interact with the plastic gray body switch.",
+    "Tap the switch to engage it",
+    "Push the switch for electrical control via the left arm.",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Engage the electrical switch with protruding toggle using the left arm.",
+    "Activate the switch for electrical control with the left arm.",
+    "Trigger the light gray square switch using the left arm",
+    "Click the control switch with red lever to activate it",
+    "Engage the left arm to press the plastic gray body switch",
+    "Use the left arm to interact with the square switch with red bar",
+    "Interact with the compact switch with flat base directly",
+    "Press the compact switch with flat base to activate.",
+    "Click the control switch with red lever directly.",
+    "Click the gray switch with red toggle using automated tools",
+    "Initiate the square switch with red bar by clicking",
+    "Locate and press the switch with thin red toggle",
+    "Deploy the left arm to operate the plastic gray body switch",
+    "Direct the left arm to operate the square switch with red bar",
+    "Use the left arm to engage the toggle switch light gray base",
+    "Operate the toggle switch light gray base with the left arm",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Press the switch with thin red toggle with the left arm",
+    "Set the left arm to press the compact switch with flat base",
+    "Click on the switch for electrical control precisely",
+    "Directly interact with the gray switch with red toggle",
+    "Press the plastic gray body switch using the left arm.",
+    "Toggle the switch with the left arm.",
+    "Command the left arm to engage the control switch with red lever",
+    "Activate the switch by pressing it",
+    "Engage the gray switch with red toggle using the robotic arm",
+    "Trigger the switch with thin red toggle with precision",
+    "Press the gray switch with red toggle using robotic control",
+    "Activate the gray switch with red toggle with robotic precision",
+    "Engage the switch with thin red toggle using the left arm",
+    "Use the left arm for switching the square switch with red bar",
+    "Activate the the red bar switch using the left arm",
+    "Operate the left arm to engage the gray switch with red toggle",
+    "Locate and press the light gray square switch",
+    "Press the gray switch with red toggle via automation",
+    "Move to the switch for electrical control and click it.",
+    "Set the switch at the electrical switch with protruding toggle",
+    "Trigger the red bar switch without referencing the left arm",
+    "Switch the toggle switch light gray base to its active state",
+    "Activate the square switch with red bar via the left arm",
+    "Click the control switch with red lever with robotic precision",
+    "Press the plastic gray body switch directly",
+    "Activate the compact switch with flat base directly",
+    "Engage with the square switch with red bar manually"
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth gray base switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Use the left arm to press the flat square gray switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Use the left arm to press the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode150.json b/turn_switch/piper_randomized_500/instructions/episode150.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc8086464a5e1c9ea6e335ac471dc2e466c92a2
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode150.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the electric toggle switch using the right arm",
+    "Locate and press the two-button gray switch",
+    "Interact with the two-button gray switch directly",
+    "Set the switch at the electric toggle switch",
+    "Move to the gray switch with black buttons and click it.",
+    "Click the electric toggle switch directly.",
+    "Switch the medium switch with trapezoidal base to its active state",
+    "Click the electric toggle switch with robotic precision",
+    "Set the right arm to press the electric toggle switch",
+    "Engage the right arm to press the gray base with black buttons",
+    "Activate the gray switch with black buttons with the right arm.",
+    "Press the switch with trapezoidal base with the right arm",
+    "Engage the gray base with black buttons using the right arm.",
+    "Activate the the trapezoidal base switch using the right arm",
+    "Click on the medium switch with trapezoidal base precisely",
+    "Click the electric toggle switch to activate it",
+    "Command the right arm to engage the electric toggle switch",
+    "Press the gray smooth surface switch via automation",
+    "Deploy the right arm to press the gray smooth surface switch",
+    "Press the trapezoidal base switch carefully with the right arm",
+    "Click the handheld switch using automated tools",
+    "Activate the gray smooth surface switch by pressing it",
+    "Direct the right arm to operate the gray base with black buttons",
+    "Press the medium switch with trapezoidal base using the right arm.",
+    "Activate the handheld switch directly",
+    "Operate the two-button gray switch with the right arm",
+    "Directly interact with the plastic switch with matte buttons",
+    "Interact with the smooth gray switch.",
+    "Use the right arm for switching the electric toggle switch",
+    "Use the right arm to engage the electric toggle switch",
+    "Operate the right arm to engage the switch with trapezoidal base",
+    "Tap the gray smooth surface switch to engage it",
+    "Push the medium switch with trapezoidal base via the right arm.",
+    "Use the right arm to interact with the smooth gray switch",
+    "Initiate the gray plastic switch by clicking",
+    "Activate the gray plastic switch via the right arm",
+    "Toggle the gray plastic switch with the right arm.",
+    "Press the electric toggle switch to activate.",
+    "Engage the gray smooth surface switch using the right arm",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Locate and press the electric toggle switch",
+    "Engage the trapezoidal base switch with a press.",
+    "Trigger the gray switch with black buttons without referencing the right arm",
+    "Trigger the trapezoidal base switch with precision",
+    "Activate the handheld switch with robotic precision",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Press the gray smooth surface switch directly",
+    "Press the trapezoidal base switch using robotic control",
+    "Approach and tap the gray base with black buttons via the right arm",
+    "Deploy the right arm to operate the smooth gray switch",
+    "Trigger the electric toggle switch using the right arm",
+    "Locate and press the gray base with black buttons",
+    "Interact with the gray switch with black buttons directly",
+    "Set the switch at the switch with trapezoidal base",
+    "Move to the plastic switch with matte buttons and click it.",
+    "Click the handheld switch directly.",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Click the two-button gray switch with robotic precision",
+    "Set the right arm to press the trapezoidal base switch",
+    "Engage the right arm to press the gray base with black buttons",
+    "Activate the plastic switch with matte buttons with the right arm.",
+    "Press the medium switch with trapezoidal base with the right arm",
+    "Engage the gray base with black buttons using the right arm.",
+    "Activate the the electric toggle switch using the right arm",
+    "Click on the electric toggle switch precisely",
+    "Click the two-button gray switch to activate it",
+    "Command the right arm to engage the smooth gray switch",
+    "Press the gray switch with black buttons via automation",
+    "Deploy the right arm to press the smooth gray switch",
+    "Press the medium switch with trapezoidal base carefully with the right arm",
+    "Click the gray base with black buttons using automated tools",
+    "Activate the handheld switch by pressing it",
+    "Direct the right arm to operate the handheld switch",
+    "Press the two-button gray switch using the right arm.",
+    "Activate the gray smooth surface switch directly",
+    "Operate the gray switch with black buttons with the right arm",
+    "Directly interact with the plastic switch with matte buttons",
+    "Interact with the plastic switch with matte buttons.",
+    "Use the right arm for switching the gray plastic switch",
+    "Use the right arm to engage the plastic switch with matte buttons",
+    "Operate the right arm to engage the switch with trapezoidal base",
+    "Tap the switch with trapezoidal base to engage it",
+    "Push the electric toggle switch via the right arm.",
+    "Use the right arm to interact with the gray smooth surface switch",
+    "Initiate the smooth gray switch by clicking",
+    "Activate the smooth gray switch via the right arm",
+    "Toggle the switch with trapezoidal base with the right arm.",
+    "Press the handheld switch to activate.",
+    "Engage the medium switch with trapezoidal base using the right arm",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Locate and press the plastic switch with matte buttons",
+    "Engage the medium switch with trapezoidal base with a press.",
+    "Trigger the trapezoidal base switch without referencing the right arm",
+    "Trigger the handheld switch with precision",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Engage the switch with trapezoidal base using the robotic arm",
+    "Press the gray plastic switch directly",
+    "Press the gray switch with black buttons using robotic control",
+    "Approach and tap the gray base with black buttons via the right arm",
+    "Deploy the right arm to operate the switch with trapezoidal base"
+  ],
+  "unseen": [
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Use the right arm to press the gray switch medium size",
+    "Move and click the the gray switch",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Use the right arm to press the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Use the right arm to press the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Use the right arm to press the gray switch",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Use the right arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode151.json b/turn_switch/piper_randomized_500/instructions/episode151.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba05a3be8f1cf00277532499a3ac4ced48bb8db
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode151.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the small square switch made of plastic by clicking",
+    "Activate the the switch for electrical control using the right arm",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Engage with the angled-edge gray square switch manually",
+    "Trigger the palm-sized light gray switch with precision",
+    "Press the switch for electrical control using robotic control",
+    "Trigger the smooth gray switch using the right arm",
+    "Press the switch with rectangular raised area to activate.",
+    "Engage the small square switch with a press.",
+    "Deploy the right arm to press the angled-edge gray square switch",
+    "Click the switch with smooth light gray finish using automated tools",
+    "Locate and press the flat square with raised center",
+    "Engage the flat square with raised center using the robotic arm",
+    "Use the right arm to engage the flat square with raised center",
+    "Approach and tap the switch for electrical control via the right arm",
+    "Move to the square switch with smooth surface and click it.",
+    "Activate the small square switch with robotic precision",
+    "Press the switch with rectangular raised area using the right arm.",
+    "Click the switch with rectangular raised area to activate it",
+    "Click on the flat square with raised center precisely",
+    "Engage the right arm to press the square gray switch panel",
+    "Activate the light gray plastic switch via the right arm",
+    "Activate the switch with smooth light gray finish with the right arm.",
+    "Direct the right arm to operate the switch with rectangular raised area",
+    "Command the right arm to engage the flat square with raised center",
+    "Interact with the switch with rectangular raised area directly",
+    "Set the switch at the light gray plastic switch",
+    "Interact with the angled-edge gray square switch.",
+    "Operate the right arm to engage the angled-edge gray square switch",
+    "Trigger the smooth gray switch without referencing the right arm",
+    "Tap the square switch with smooth surface to engage it",
+    "Push the smooth gray switch via the right arm.",
+    "Use the right arm for switching the square switch with smooth surface",
+    "Toggle the light gray plastic switch with the right arm.",
+    "Click the smooth gray switch directly.",
+    "Activate the square switch with smooth surface by pressing it",
+    "Use the right arm to interact with the switch with smooth light gray finish",
+    "Engage the square gray switch panel using the right arm.",
+    "Operate the small square switch with the right arm",
+    "Set the right arm to press the small square switch made of plastic",
+    "Directly interact with the angled-edge gray square switch",
+    "Switch the switch for electrical control to its active state",
+    "Locate and press the small square switch",
+    "Press the square gray switch panel carefully with the right arm",
+    "Press the light gray plastic switch with the right arm",
+    "Press the light gray plastic switch via automation",
+    "Press the smooth gray switch directly",
+    "Activate the switch for electrical control directly",
+    "Deploy the right arm to operate the square gray switch panel",
+    "Engage the small square switch using the right arm",
+    "Initiate the light gray plastic switch by clicking",
+    "Activate the the angled-edge gray square switch using the right arm",
+    "Click the small square switch with robotic precision",
+    "Engage with the square switch with smooth surface manually",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the square gray switch panel using robotic control",
+    "Trigger the square gray switch panel using the right arm",
+    "Press the square switch with smooth surface to activate.",
+    "Engage the square switch with smooth surface with a press.",
+    "Deploy the right arm to press the smooth gray switch",
+    "Click the square gray switch panel using automated tools",
+    "Locate and press the light gray plastic switch",
+    "Engage the flat square with raised center using the robotic arm",
+    "Use the right arm to engage the square gray switch panel",
+    "Approach and tap the switch with rectangular raised area via the right arm",
+    "Move to the switch for electrical control and click it.",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Press the small square switch made of plastic using the right arm.",
+    "Click the flat square with raised center to activate it",
+    "Click on the switch for electrical control precisely",
+    "Engage the right arm to press the small square switch",
+    "Activate the switch with rectangular raised area via the right arm",
+    "Activate the small square switch made of plastic with the right arm.",
+    "Direct the right arm to operate the flat square with raised center",
+    "Command the right arm to engage the square switch with smooth surface",
+    "Interact with the switch with rectangular raised area directly",
+    "Set the switch at the smooth gray switch",
+    "Interact with the angled-edge gray square switch.",
+    "Operate the right arm to engage the angled-edge gray square switch",
+    "Trigger the light gray plastic switch without referencing the right arm",
+    "Tap the angled-edge gray square switch to engage it",
+    "Push the small square switch via the right arm.",
+    "Use the right arm for switching the square switch with smooth surface",
+    "Toggle the square switch with smooth surface with the right arm.",
+    "Click the switch with smooth light gray finish directly.",
+    "Activate the switch with rectangular raised area by pressing it",
+    "Use the right arm to interact with the small square switch",
+    "Engage the switch for electrical control using the right arm.",
+    "Operate the switch with smooth light gray finish with the right arm",
+    "Set the right arm to press the switch with rectangular raised area",
+    "Directly interact with the light gray plastic switch",
+    "Switch the flat square with raised center to its active state",
+    "Locate and press the switch with smooth light gray finish",
+    "Press the smooth gray switch carefully with the right arm",
+    "Press the light gray plastic switch with the right arm",
+    "Press the palm-sized light gray switch via automation",
+    "Press the flat square with raised center directly",
+    "Activate the switch with rectangular raised area directly",
+    "Deploy the right arm to operate the square switch with smooth surface",
+    "Engage the smooth gray switch using the right arm"
+  ],
+  "unseen": [
+    "Move and click the the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode156.json b/turn_switch/piper_randomized_500/instructions/episode156.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe4dddaeefc0546739de4295d1581f5287ec523
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode156.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the switch with darker rectangle using the right arm",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Switch the flat switch to its active state",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Activate the tan switch directly",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Engage the angled switch light tan color with a press.",
+    "Press the angled switch light tan color directly",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Engage the switch with darker rectangle using the right arm.",
+    "Operate the right arm to engage the small light tan switch",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Set the switch at the light tan rectangular switch smooth finish",
+    "Set the right arm to press the hand-sized switch tan smooth finish",
+    "Use the right arm for switching the rectangular switch with slanted sides",
+    "Activate the the smooth tan switch with textured sides using the right arm",
+    "Interact with the angled switch light tan color directly",
+    "Engage the right arm to press the flat switch",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Press the plastic switch with angled edges via automation",
+    "Activate the flat switch by pressing it",
+    "Click the switch with darker rectangle directly.",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Press the rectangular switch with slanted sides using the right arm.",
+    "Initiate the smooth tan switch with textured sides by clicking",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Locate and press the smooth tan switch with textured sides",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Direct the right arm to operate the smooth tan switch with textured sides",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Command the right arm to engage the hand-sized switch tan smooth finish",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Engage with the rectangular switch with slanted sides manually",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Press the flat switch with the right arm",
+    "Click on the angled switch light tan color precisely",
+    "Press the switch with darker rectangle using robotic control",
+    "Press the angled switch light tan color to activate.",
+    "Locate and press the smooth tan switch with textured sides",
+    "Trigger the small light tan switch with precision",
+    "Use the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Interact with the plastic switch with angled edges.",
+    "Trigger the switch trapezoid shape brown marking using the right arm",
+    "Directly interact with the switch with darker rectangle",
+    "Deploy the right arm to press the plastic switch with angled edges",
+    "Click the switch trapezoid shape brown marking to activate it",
+    "Engage the smooth tan switch with textured sides using the right arm",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Deploy the right arm to operate the hand-sized switch tan smooth finish",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Move to the switch with darker rectangle and click it.",
+    "Activate the flat switch directly",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Engage the tan switch with a press.",
+    "Press the rectangular switch with slanted sides directly",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Engage the hand-sized switch tan smooth finish using the right arm.",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Interact with the small light tan switch directly",
+    "Engage the right arm to press the tan switch",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Activate the tan switch with the right arm.",
+    "Press the small light tan switch via automation",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Click the small light tan switch directly.",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Push the angled switch light tan color via the right arm.",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Direct the right arm to operate the smooth tan switch with textured sides",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Command the right arm to engage the flat switch",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Press the tan switch with the right arm",
+    "Click on the angled switch light tan color precisely",
+    "Press the switch with darker rectangle using robotic control",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Locate and press the flat switch",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Use the right arm to engage the switch with darker rectangle",
+    "Interact with the small light tan switch.",
+    "Trigger the rectangular switch with slanted sides using the right arm",
+    "Directly interact with the angled switch light tan color",
+    "Deploy the right arm to press the rectangular switch with slanted sides",
+    "Click the hand-sized switch tan smooth finish to activate it"
+  ],
+  "unseen": [
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode158.json b/turn_switch/piper_randomized_500/instructions/episode158.json
new file mode 100644
index 0000000000000000000000000000000000000000..be36e5bac363d865c2e20160c6d553aced066d1a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode158.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Approach and tap the black base switch with red toggle via the right arm",
+    "Engage the small switch using the right arm",
+    "Operate the right arm to engage the compact switch with toggle on top",
+    "Set the right arm to press the rectangular black plastic switch",
+    "Activate the the black base switch with red toggle using the right arm",
+    "Push the red-top black switch via the right arm.",
+    "Click on the hand-sized switch with connector prongs precisely",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Tap the hand-sized switch with connector prongs to engage it",
+    "Activate the hand-sized switch with connector prongs via the right arm",
+    "Activate the black switch by pressing it",
+    "Interact with the black base switch with red toggle.",
+    "Use the right arm to engage the plastic switch with metal terminals",
+    "Direct the right arm to operate the rectangular switch with curved lever",
+    "Trigger the black base switch with red toggle with precision",
+    "Use the right arm to interact with the hand-sized switch with connector prongs",
+    "Locate and press the black switch",
+    "Operate the red and black switch with the right arm",
+    "Press the black switch to activate.",
+    "Engage the switch with curved red toggle using the robotic arm",
+    "Press the red and black switch using the right arm.",
+    "Deploy the right arm to press the rectangular switch with curved lever",
+    "Trigger the rectangular black plastic switch using the right arm",
+    "Click the red-top black switch to activate it",
+    "Press the black switch directly",
+    "Interact with the compact switch with toggle on top directly",
+    "Deploy the right arm to operate the red-top black switch",
+    "Press the switch with curved red toggle using robotic control",
+    "Click the compact switch with toggle on top directly.",
+    "Click the small switch using automated tools",
+    "Set the switch at the rectangular switch with curved lever",
+    "Activate the black switch with the right arm.",
+    "Trigger the red and black switch without referencing the right arm",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Engage the switch with curved red toggle using the right arm.",
+    "Press the black switch with metallic connectors via automation",
+    "Activate the hand-sized switch with connector prongs directly",
+    "Directly interact with the black base switch with red toggle",
+    "Engage the rectangular switch with curved lever with a press.",
+    "Initiate the hand-sized switch with connector prongs by clicking",
+    "Toggle the compact switch with toggle on top with the right arm.",
+    "Locate and press the red-top black switch",
+    "Move to the rectangular switch with curved lever and click it.",
+    "Use the right arm for switching the rectangular switch with curved lever",
+    "Engage with the black switch manually",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Engage the right arm to press the hand-sized switch with connector prongs",
+    "Press the red and black switch carefully with the right arm",
+    "Command the right arm to engage the red and black switch",
+    "Press the hand-sized switch with connector prongs with the right arm",
+    "Approach and tap the plastic switch with metal terminals via the right arm",
+    "Engage the red-top black switch using the right arm",
+    "Operate the right arm to engage the switch with curved red toggle",
+    "Set the right arm to press the compact switch with toggle on top",
+    "Activate the the black switch using the right arm",
+    "Push the small switch via the right arm.",
+    "Click on the black switch with metallic connectors precisely",
+    "Click the compact switch with toggle on top with robotic precision",
+    "Tap the switch with curved red toggle to engage it",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Interact with the red-top black switch.",
+    "Use the right arm to engage the black base switch with red toggle",
+    "Direct the right arm to operate the red-top black switch",
+    "Trigger the black switch with metallic connectors with precision",
+    "Use the right arm to interact with the black switch with metallic connectors",
+    "Locate and press the small switch",
+    "Operate the small switch with the right arm",
+    "Press the black base switch with red toggle to activate.",
+    "Engage the rectangular black plastic switch using the robotic arm",
+    "Press the black switch with metallic connectors using the right arm.",
+    "Deploy the right arm to press the compact switch with toggle on top",
+    "Trigger the rectangular switch with curved lever using the right arm",
+    "Click the rectangular switch with curved lever to activate it",
+    "Press the rectangular black plastic switch directly",
+    "Interact with the rectangular black plastic switch directly",
+    "Deploy the right arm to operate the switch with curved red toggle",
+    "Press the rectangular black plastic switch using robotic control",
+    "Click the rectangular black plastic switch directly.",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Set the switch at the compact switch with toggle on top",
+    "Activate the compact switch with toggle on top with the right arm.",
+    "Trigger the switch with curved red toggle without referencing the right arm",
+    "Switch the rectangular switch with curved lever to its active state",
+    "Engage the switch with curved red toggle using the right arm.",
+    "Press the small switch via automation",
+    "Activate the red and black switch directly",
+    "Directly interact with the red and black switch",
+    "Engage the black base switch with red toggle with a press.",
+    "Initiate the black base switch with red toggle by clicking",
+    "Toggle the red-top black switch with the right arm.",
+    "Locate and press the plastic switch with metal terminals",
+    "Move to the red and black switch and click it.",
+    "Use the right arm for switching the small switch",
+    "Engage with the compact switch with toggle on top manually",
+    "Activate the small switch with robotic precision",
+    "Engage the right arm to press the red and black switch",
+    "Press the hand-sized switch with connector prongs carefully with the right arm",
+    "Command the right arm to engage the red and black switch",
+    "Press the compact switch with toggle on top with the right arm"
+  ],
+  "unseen": [
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the simple toggle switch.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode159.json b/turn_switch/piper_randomized_500/instructions/episode159.json
new file mode 100644
index 0000000000000000000000000000000000000000..87284aa942470a7bd81df451b066009234e25fb8
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode159.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the rectangular switch with smooth surface using the right arm",
+    "Directly interact with the rectangular switch with smooth surface",
+    "Operate the right arm to engage the switch with slanted sides",
+    "Use the right arm to engage the black switch with slim profile",
+    "Click the black rectangular control switch to activate it",
+    "Activate the compact rectangular black switch by pressing it",
+    "Click on the control switch precisely",
+    "Activate the black switch with the right arm.",
+    "Deploy the right arm to press the palm-sized black switch",
+    "Press the switch with slanted sides via automation",
+    "Switch the palm-sized black switch to its active state",
+    "Use the right arm for switching the palm-sized black switch",
+    "Engage the control switch with a press.",
+    "Trigger the rectangular switch with smooth surface without referencing the right arm",
+    "Move to the black switch and click it.",
+    "Click the black switch directly.",
+    "Press the slanted-edge plastic black switch directly",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Engage the control switch using the right arm",
+    "Locate and press the black rectangular control switch",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Click the black rectangular control switch using automated tools",
+    "Tap the palm-sized black switch to engage it",
+    "Deploy the right arm to operate the black switch with matte coating",
+    "Interact with the black switch with slim profile directly",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Operate the rectangular switch with smooth surface with the right arm",
+    "Engage with the black switch manually",
+    "Push the switch with slanted sides via the right arm.",
+    "Interact with the sleek black rectangular switch.",
+    "Initiate the rectangular switch with smooth surface by clicking",
+    "Engage the right arm to press the black switch",
+    "Use the right arm to interact with the control switch",
+    "Engage the slanted-edge plastic black switch using the right arm.",
+    "Press the black switch with matte coating carefully with the right arm",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Press the slanted-edge plastic black switch using robotic control",
+    "Click the black rectangular control switch with robotic precision",
+    "Activate the black rectangular control switch with robotic precision",
+    "Trigger the rectangular switch with smooth surface with precision",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Press the black switch using the right arm.",
+    "Activate the control switch directly",
+    "Direct the right arm to operate the black switch with matte coating",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Locate and press the black rectangular control switch",
+    "Press the medium-sized black rectangular switch with the right arm",
+    "Activate the the medium-sized black rectangular switch using the right arm",
+    "Toggle the slanted-edge plastic black switch with the right arm.",
+    "Activate the black switch via the right arm",
+    "Trigger the black switch with slim profile using the right arm",
+    "Directly interact with the sleek black rectangular switch",
+    "Operate the right arm to engage the black rectangular control switch",
+    "Use the right arm to engage the compact rectangular black switch",
+    "Click the black switch with slim profile to activate it",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Click on the black switch precisely",
+    "Activate the palm-sized black switch with the right arm.",
+    "Deploy the right arm to press the medium-sized black rectangular switch",
+    "Press the slanted-edge plastic black switch via automation",
+    "Switch the compact rectangular black switch to its active state",
+    "Use the right arm for switching the palm-sized black switch",
+    "Engage the compact rectangular black switch with a press.",
+    "Trigger the rectangular switch with smooth surface without referencing the right arm",
+    "Move to the black rectangular control switch and click it.",
+    "Click the switch with slanted sides directly.",
+    "Press the black switch directly",
+    "Set the right arm to press the rectangular switch with smooth surface",
+    "Engage the black switch with slim profile using the right arm",
+    "Locate and press the compact rectangular black switch",
+    "Approach and tap the black switch with slim profile via the right arm",
+    "Click the black switch using automated tools",
+    "Tap the black switch with slim profile to engage it",
+    "Deploy the right arm to operate the control switch",
+    "Interact with the compact rectangular black switch directly",
+    "Engage the black switch using the robotic arm",
+    "Operate the compact rectangular black switch with the right arm",
+    "Engage with the compact rectangular black switch manually",
+    "Push the black switch with slim profile via the right arm.",
+    "Interact with the palm-sized black switch.",
+    "Initiate the medium-sized black rectangular switch by clicking",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Engage the compact rectangular black switch using the right arm.",
+    "Press the palm-sized black switch carefully with the right arm",
+    "Command the right arm to engage the switch with slanted sides",
+    "Press the palm-sized black switch using robotic control",
+    "Click the compact rectangular black switch with robotic precision",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Trigger the rectangular switch with smooth surface with precision",
+    "Press the compact rectangular black switch to activate.",
+    "Press the slanted-edge plastic black switch using the right arm.",
+    "Activate the slanted-edge plastic black switch directly",
+    "Direct the right arm to operate the sleek black rectangular switch",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Locate and press the control switch",
+    "Press the black rectangular control switch with the right arm",
+    "Activate the the medium-sized black rectangular switch using the right arm",
+    "Toggle the palm-sized black switch with the right arm.",
+    "Activate the palm-sized black switch via the right arm"
+  ],
+  "unseen": [
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode16.json b/turn_switch/piper_randomized_500/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..368a196c6785985e632b6b50188f84a8d7bad07e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the switch with three metal pins with precision",
+    "Click the switch with three metal pins using automated tools",
+    "Activate the rectangular switch via the right arm",
+    "Deploy the right arm to operate the switch with three metal pins",
+    "Set the switch at the switch for turning circuits on off",
+    "Engage the right arm to press the rectangular switch",
+    "Interact with the smooth red switch with labels directly",
+    "Press the smooth red switch with labels directly",
+    "Locate and press the red and black electrical switch",
+    "Deploy the right arm to press the rectangular switch",
+    "Direct the right arm to operate the tiny rectangular switch",
+    "Directly interact with the tiny rectangular switch",
+    "Interact with the red and black electrical switch.",
+    "Activate the rectangular switch with robotic precision",
+    "Engage the metal-pronged black switch using the right arm",
+    "Use the right arm for switching the toggle switch with black housing",
+    "Trigger the plastic switch with metal prongs using the right arm",
+    "Use the right arm to interact with the rectangular switch",
+    "Activate the the toggle switch with black housing using the right arm",
+    "Initiate the switch for turning circuits on off by clicking",
+    "Click the smooth red switch with labels to activate it",
+    "Use the right arm to engage the black base switch",
+    "Activate the red and black electrical switch directly",
+    "Operate the right arm to engage the plastic switch with metal prongs",
+    "Click on the switch for turning circuits on off precisely",
+    "Press the two-tone red black switch via automation",
+    "Move to the toggle switch with black housing and click it.",
+    "Switch the smooth red switch with labels to its active state",
+    "Engage the rectangular switch using the robotic arm",
+    "Set the right arm to press the smooth red switch with labels",
+    "Engage the rectangular switch with a press.",
+    "Click the switch for turning circuits on off with robotic precision",
+    "Push the smooth red switch with labels via the right arm.",
+    "Locate and press the tiny rectangular switch",
+    "Engage the metal-pronged black switch using the right arm.",
+    "Engage with the red and black electrical switch manually",
+    "Press the switch for turning circuits on off to activate.",
+    "Command the right arm to engage the red and black electrical switch",
+    "Trigger the switch for turning circuits on off without referencing the right arm",
+    "Press the rectangular switch carefully with the right arm",
+    "Press the toggle switch with black housing using robotic control",
+    "Click the rectangular switch directly.",
+    "Toggle the small switch with red lever with the right arm.",
+    "Press the tiny rectangular switch using the right arm.",
+    "Approach and tap the toggle switch with black housing via the right arm",
+    "Press the plastic switch with metal prongs with the right arm",
+    "Tap the tiny rectangular switch to engage it",
+    "Activate the toggle switch with black housing by pressing it",
+    "Activate the rectangular switch with the right arm.",
+    "Operate the smooth red switch with labels with the right arm",
+    "Trigger the two-tone red black switch with precision",
+    "Click the rectangular switch using automated tools",
+    "Activate the tiny rectangular switch via the right arm",
+    "Deploy the right arm to operate the rectangular switch",
+    "Set the switch at the switch with three metal pins",
+    "Engage the right arm to press the switch with three metal pins",
+    "Interact with the smooth red switch with labels directly",
+    "Press the black base switch directly",
+    "Locate and press the toggle switch with black housing",
+    "Deploy the right arm to press the two-tone red black switch",
+    "Direct the right arm to operate the black base switch",
+    "Directly interact with the two-tone red black switch",
+    "Interact with the red and black electrical switch.",
+    "Activate the toggle switch with black housing with robotic precision",
+    "Engage the rectangular switch using the right arm",
+    "Use the right arm for switching the switch for turning circuits on off",
+    "Trigger the metal-pronged black switch using the right arm",
+    "Use the right arm to interact with the rectangular switch",
+    "Activate the the two-tone red black switch using the right arm",
+    "Initiate the black base switch by clicking",
+    "Click the switch with three metal pins to activate it",
+    "Use the right arm to engage the smooth red switch with labels",
+    "Activate the switch for turning circuits on off directly",
+    "Operate the right arm to engage the toggle switch with black housing",
+    "Click on the two-tone red black switch precisely",
+    "Press the toggle switch with black housing via automation",
+    "Move to the switch for turning circuits on off and click it.",
+    "Switch the tiny rectangular switch to its active state",
+    "Engage the small switch with red lever using the robotic arm",
+    "Set the right arm to press the tiny rectangular switch",
+    "Engage the rectangular switch with a press.",
+    "Click the plastic switch with metal prongs with robotic precision",
+    "Push the black base switch via the right arm.",
+    "Locate and press the metal-pronged black switch",
+    "Engage the smooth red switch with labels using the right arm.",
+    "Engage with the switch for turning circuits on off manually",
+    "Press the red and black electrical switch to activate.",
+    "Command the right arm to engage the two-tone red black switch",
+    "Trigger the switch with three metal pins without referencing the right arm",
+    "Press the two-tone red black switch carefully with the right arm",
+    "Press the switch for turning circuits on off using robotic control",
+    "Click the tiny rectangular switch directly.",
+    "Toggle the red and black electrical switch with the right arm.",
+    "Press the tiny rectangular switch using the right arm.",
+    "Approach and tap the metal-pronged black switch via the right arm",
+    "Press the smooth red switch with labels with the right arm",
+    "Tap the toggle switch with black housing to engage it",
+    "Activate the switch for turning circuits on off by pressing it",
+    "Activate the smooth red switch with labels with the right arm.",
+    "Operate the black base switch with the right arm"
+  ],
+  "unseen": [
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode160.json b/turn_switch/piper_randomized_500/instructions/episode160.json
new file mode 100644
index 0000000000000000000000000000000000000000..789bc2e512a7ec265669abff4b58ae19f8bf77a0
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode160.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the black switch with the left arm.",
+    "Press the black switch with matte coating with the left arm",
+    "Activate the control switch via the left arm",
+    "Approach and tap the slanted-edge plastic black switch via the left arm",
+    "Locate and press the black switch with slim profile",
+    "Direct the left arm to operate the compact rectangular black switch",
+    "Use the left arm for switching the black switch with matte coating",
+    "Interact with the medium-sized black rectangular switch.",
+    "Engage the switch with slanted sides using the robotic arm",
+    "Activate the medium-sized black rectangular switch directly",
+    "Deploy the left arm to operate the black rectangular control switch",
+    "Directly interact with the sleek black rectangular switch",
+    "Use the left arm to engage the switch with slanted sides",
+    "Initiate the palm-sized black switch by clicking",
+    "Click the black switch with slim profile with robotic precision",
+    "Click the black rectangular control switch directly.",
+    "Engage the black rectangular control switch using the left arm",
+    "Command the left arm to engage the black switch with matte coating",
+    "Switch the medium-sized black rectangular switch to its active state",
+    "Press the compact rectangular black switch using the left arm.",
+    "Press the black rectangular control switch using robotic control",
+    "Press the black switch with slim profile directly",
+    "Click the compact rectangular black switch using automated tools",
+    "Operate the black switch with slim profile with the left arm",
+    "Press the palm-sized black switch carefully with the left arm",
+    "Trigger the rectangular switch with smooth surface using the left arm",
+    "Engage the sleek black rectangular switch with a press.",
+    "Set the left arm to press the palm-sized black switch",
+    "Engage the sleek black rectangular switch using the left arm.",
+    "Toggle the slanted-edge plastic black switch with the left arm.",
+    "Activate the the palm-sized black switch using the left arm",
+    "Tap the palm-sized black switch to engage it",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Use the left arm to interact with the rectangular switch with smooth surface",
+    "Engage the left arm to press the black switch",
+    "Activate the compact rectangular black switch by pressing it",
+    "Click the medium-sized black rectangular switch to activate it",
+    "Click on the control switch precisely",
+    "Deploy the left arm to press the compact rectangular black switch",
+    "Push the switch with slanted sides via the left arm.",
+    "Press the sleek black rectangular switch via automation",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Set the switch at the black switch with matte coating",
+    "Move to the sleek black rectangular switch and click it.",
+    "Press the palm-sized black switch to activate.",
+    "Trigger the rectangular switch with smooth surface without referencing the left arm",
+    "Operate the left arm to engage the black switch with slim profile",
+    "Activate the black switch with slim profile with robotic precision",
+    "Engage with the slanted-edge plastic black switch manually",
+    "Locate and press the palm-sized black switch",
+    "Activate the medium-sized black rectangular switch with the left arm.",
+    "Press the black switch with slim profile with the left arm",
+    "Activate the black rectangular control switch via the left arm",
+    "Approach and tap the switch with slanted sides via the left arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Direct the left arm to operate the switch with slanted sides",
+    "Use the left arm for switching the black switch with matte coating",
+    "Interact with the black switch with slim profile.",
+    "Engage the sleek black rectangular switch using the robotic arm",
+    "Activate the rectangular switch with smooth surface directly",
+    "Deploy the left arm to operate the black switch",
+    "Directly interact with the palm-sized black switch",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Initiate the control switch by clicking",
+    "Click the palm-sized black switch with robotic precision",
+    "Click the black switch with matte coating directly.",
+    "Engage the slanted-edge plastic black switch using the left arm",
+    "Command the left arm to engage the black switch with matte coating",
+    "Switch the black rectangular control switch to its active state",
+    "Press the black switch with matte coating using the left arm.",
+    "Press the black switch using robotic control",
+    "Press the black switch with slim profile directly",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Operate the black switch with slim profile with the left arm",
+    "Press the rectangular switch with smooth surface carefully with the left arm",
+    "Trigger the palm-sized black switch using the left arm",
+    "Engage the control switch with a press.",
+    "Set the left arm to press the rectangular switch with smooth surface",
+    "Engage the black switch using the left arm.",
+    "Toggle the palm-sized black switch with the left arm.",
+    "Activate the the medium-sized black rectangular switch using the left arm",
+    "Tap the black switch with slim profile to engage it",
+    "Interact with the black switch with matte coating directly",
+    "Use the left arm to interact with the black switch with matte coating",
+    "Engage the left arm to press the slanted-edge plastic black switch",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Click the black switch with slim profile to activate it",
+    "Click on the control switch precisely",
+    "Deploy the left arm to press the black switch with slim profile",
+    "Push the control switch via the left arm.",
+    "Press the slanted-edge plastic black switch via automation",
+    "Trigger the black switch with matte coating with precision",
+    "Set the switch at the sleek black rectangular switch",
+    "Move to the slanted-edge plastic black switch and click it.",
+    "Press the switch with slanted sides to activate.",
+    "Trigger the black switch with slim profile without referencing the left arm",
+    "Operate the left arm to engage the black switch",
+    "Activate the control switch with robotic precision",
+    "Engage with the black switch with matte coating manually",
+    "Locate and press the black switch with slim profile"
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode169.json b/turn_switch/piper_randomized_500/instructions/episode169.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d6d6157bbe5892b5cbd9adf3cdcdf9cf37ade2a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode169.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the light gray square switch with a press.",
+    "Toggle the switch with thin red toggle with the left arm.",
+    "Engage the control switch with red lever using the left arm",
+    "Trigger the control switch with red lever without referencing the left arm",
+    "Activate the control switch with red lever with robotic precision",
+    "Press the square switch with red bar with the left arm",
+    "Press the electrical switch with protruding toggle using the left arm.",
+    "Activate the gray switch with red toggle with the left arm.",
+    "Engage the switch using the robotic arm",
+    "Trigger the light gray square switch with precision",
+    "Command the left arm to engage the switch for electrical control",
+    "Click the toggle switch light gray base using automated tools",
+    "Set the switch at the gray switch with red toggle",
+    "Press the light gray square switch to activate.",
+    "Directly interact with the toggle switch light gray base",
+    "Trigger the switch for electrical control using the left arm",
+    "Direct the left arm to operate the control switch with red lever",
+    "Activate the control switch with red lever via the left arm",
+    "Press the switch directly",
+    "Click the plastic gray body switch directly.",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Push the compact switch with flat base via the left arm.",
+    "Press the plastic gray body switch via automation",
+    "Engage with the toggle switch light gray base manually",
+    "Set the left arm to press the plastic gray body switch",
+    "Click the switch with robotic precision",
+    "Locate and press the electrical switch with protruding toggle",
+    "Press the switch using robotic control",
+    "Switch the switch with thin red toggle to its active state",
+    "Activate the the electrical switch with protruding toggle using the left arm",
+    "Engage the red bar switch using the left arm.",
+    "Click the switch with thin red toggle to activate it",
+    "Operate the left arm to engage the switch",
+    "Click on the switch for electrical control precisely",
+    "Engage the left arm to press the red bar switch",
+    "Move to the red bar switch and click it.",
+    "Locate and press the toggle switch light gray base",
+    "Operate the light gray square switch with the left arm",
+    "Use the left arm to engage the switch with thin red toggle",
+    "Interact with the switch.",
+    "Interact with the square switch with red bar directly",
+    "Tap the square switch with red bar to engage it",
+    "Press the electrical switch with protruding toggle carefully with the left arm",
+    "Deploy the left arm to press the square switch with red bar",
+    "Activate the compact switch with flat base by pressing it",
+    "Activate the plastic gray body switch directly",
+    "Approach and tap the plastic gray body switch via the left arm",
+    "Use the left arm to interact with the switch",
+    "Initiate the plastic gray body switch by clicking",
+    "Use the left arm for switching the toggle switch light gray base",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Toggle the switch with the left arm.",
+    "Engage the red bar switch using the left arm",
+    "Trigger the switch for electrical control without referencing the left arm",
+    "Activate the plastic gray body switch with robotic precision",
+    "Press the red bar switch with the left arm",
+    "Press the red bar switch using the left arm.",
+    "Activate the toggle switch light gray base with the left arm.",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Trigger the switch with thin red toggle with precision",
+    "Command the left arm to engage the light gray square switch",
+    "Click the red bar switch using automated tools",
+    "Set the switch at the toggle switch light gray base",
+    "Press the red bar switch to activate.",
+    "Directly interact with the light gray square switch",
+    "Trigger the square switch with red bar using the left arm",
+    "Direct the left arm to operate the square switch with red bar",
+    "Activate the plastic gray body switch via the left arm",
+    "Press the compact switch with flat base directly",
+    "Click the switch for electrical control directly.",
+    "Deploy the left arm to operate the plastic gray body switch",
+    "Push the toggle switch light gray base via the left arm.",
+    "Press the switch with thin red toggle via automation",
+    "Engage with the switch manually",
+    "Set the left arm to press the switch with thin red toggle",
+    "Click the toggle switch light gray base with robotic precision",
+    "Locate and press the switch for electrical control",
+    "Press the electrical switch with protruding toggle using robotic control",
+    "Switch the plastic gray body switch to its active state",
+    "Activate the the toggle switch light gray base using the left arm",
+    "Engage the toggle switch light gray base using the left arm.",
+    "Click the square switch with red bar to activate it",
+    "Operate the left arm to engage the switch",
+    "Click on the plastic gray body switch precisely",
+    "Engage the left arm to press the toggle switch light gray base",
+    "Move to the electrical switch with protruding toggle and click it.",
+    "Locate and press the gray switch with red toggle",
+    "Operate the toggle switch light gray base with the left arm",
+    "Use the left arm to engage the square switch with red bar",
+    "Interact with the red bar switch.",
+    "Interact with the light gray square switch directly",
+    "Tap the toggle switch light gray base to engage it",
+    "Press the compact switch with flat base carefully with the left arm",
+    "Deploy the left arm to press the square switch with red bar",
+    "Activate the square switch with red bar by pressing it",
+    "Activate the control switch with red lever directly",
+    "Approach and tap the light gray square switch via the left arm",
+    "Use the left arm to interact with the light gray square switch",
+    "Initiate the switch for electrical control by clicking",
+    "Use the left arm for switching the toggle switch light gray base"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the flat square gray switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the flat square gray switch."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode170.json b/turn_switch/piper_randomized_500/instructions/episode170.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e57fada70c34c235672e9c7c62889b245cbad2
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode170.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the switch with three metal pins.",
+    "Activate the toggle switch with black housing with the left arm.",
+    "Trigger the metal-pronged black switch with precision",
+    "Press the metal-pronged black switch with the left arm",
+    "Direct the left arm to operate the rectangular switch",
+    "Press the two-tone red black switch via automation",
+    "Press the rectangular switch using the left arm.",
+    "Engage the toggle switch with black housing with a press.",
+    "Press the switch for turning circuits on off using robotic control",
+    "Push the tiny rectangular switch via the left arm.",
+    "Move to the switch for turning circuits on off and click it.",
+    "Use the left arm for switching the small switch with red lever",
+    "Press the rectangular switch directly",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Click the plastic switch with metal prongs directly.",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Locate and press the tiny rectangular switch",
+    "Trigger the plastic switch with metal prongs without referencing the left arm",
+    "Locate and press the switch with three metal pins",
+    "Command the left arm to engage the rectangular switch",
+    "Activate the switch for turning circuits on off directly",
+    "Set the left arm to press the toggle switch with black housing",
+    "Tap the plastic switch with metal prongs to engage it",
+    "Use the left arm to engage the two-tone red black switch",
+    "Press the toggle switch with black housing carefully with the left arm",
+    "Deploy the left arm to operate the tiny rectangular switch",
+    "Engage the switch for turning circuits on off using the left arm",
+    "Click on the toggle switch with black housing precisely",
+    "Activate the the black base switch using the left arm",
+    "Click the rectangular switch with robotic precision",
+    "Approach and tap the small switch with red lever via the left arm",
+    "Switch the plastic switch with metal prongs to its active state",
+    "Operate the left arm to engage the black base switch",
+    "Engage the left arm to press the black base switch",
+    "Click the switch for turning circuits on off using automated tools",
+    "Initiate the metal-pronged black switch by clicking",
+    "Engage with the smooth red switch with labels manually",
+    "Activate the switch with three metal pins by pressing it",
+    "Trigger the switch with three metal pins using the left arm",
+    "Engage the rectangular switch using the left arm.",
+    "Interact with the small switch with red lever directly",
+    "Toggle the tiny rectangular switch with the left arm.",
+    "Click the small switch with red lever to activate it",
+    "Directly interact with the small switch with red lever",
+    "Deploy the left arm to press the tiny rectangular switch",
+    "Press the tiny rectangular switch to activate.",
+    "Set the switch at the smooth red switch with labels",
+    "Use the left arm to interact with the black base switch",
+    "Activate the plastic switch with metal prongs via the left arm",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Interact with the metal-pronged black switch.",
+    "Activate the smooth red switch with labels with the left arm.",
+    "Trigger the metal-pronged black switch with precision",
+    "Press the red and black electrical switch with the left arm",
+    "Direct the left arm to operate the small switch with red lever",
+    "Press the switch with three metal pins via automation",
+    "Press the switch with three metal pins using the left arm.",
+    "Engage the two-tone red black switch with a press.",
+    "Press the small switch with red lever using robotic control",
+    "Push the black base switch via the left arm.",
+    "Move to the smooth red switch with labels and click it.",
+    "Use the left arm for switching the rectangular switch",
+    "Press the red and black electrical switch directly",
+    "Activate the plastic switch with metal prongs with robotic precision",
+    "Click the metal-pronged black switch directly.",
+    "Operate the red and black electrical switch with the left arm",
+    "Locate and press the black base switch",
+    "Trigger the black base switch without referencing the left arm",
+    "Locate and press the tiny rectangular switch",
+    "Command the left arm to engage the black base switch",
+    "Activate the red and black electrical switch directly",
+    "Set the left arm to press the black base switch",
+    "Tap the smooth red switch with labels to engage it",
+    "Use the left arm to engage the black base switch",
+    "Press the plastic switch with metal prongs carefully with the left arm",
+    "Deploy the left arm to operate the rectangular switch",
+    "Engage the tiny rectangular switch using the left arm",
+    "Click on the red and black electrical switch precisely",
+    "Activate the the toggle switch with black housing using the left arm",
+    "Click the small switch with red lever with robotic precision",
+    "Approach and tap the switch with three metal pins via the left arm",
+    "Switch the black base switch to its active state",
+    "Operate the left arm to engage the switch for turning circuits on off",
+    "Engage the left arm to press the black base switch",
+    "Click the black base switch using automated tools",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Engage with the metal-pronged black switch manually",
+    "Activate the small switch with red lever by pressing it",
+    "Trigger the switch for turning circuits on off using the left arm",
+    "Engage the toggle switch with black housing using the left arm.",
+    "Interact with the switch for turning circuits on off directly",
+    "Toggle the two-tone red black switch with the left arm.",
+    "Click the red and black electrical switch to activate it",
+    "Directly interact with the black base switch",
+    "Deploy the left arm to press the smooth red switch with labels",
+    "Press the red and black electrical switch to activate.",
+    "Set the switch at the red and black electrical switch",
+    "Use the left arm to interact with the two-tone red black switch",
+    "Activate the small switch with red lever via the left arm",
+    "Engage the toggle switch with black housing using the robotic arm"
+  ],
+  "unseen": [
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch",
+    "Move and click the the curved toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Press the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode173.json b/turn_switch/piper_randomized_500/instructions/episode173.json
new file mode 100644
index 0000000000000000000000000000000000000000..999226ab15add27fecf92a7493ba0b5a18bc2e6c
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode173.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the toggle switch with brown rectangle button with the right arm.",
+    "Tap the matte beige switch with flat top to engage it",
+    "Click the beige switch directly.",
+    "Press the beige switch with smooth finish with the right arm",
+    "Interact with the small trapezoid switch.",
+    "Operate the light plastic switch with the right arm",
+    "Use the right arm to engage the light plastic switch",
+    "Switch the small trapezoid switch to its active state",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Move to the beige switch and click it.",
+    "Directly interact with the hand-sized light beige switch",
+    "Direct the right arm to operate the switch with rectangular dark button",
+    "Push the toggle switch with brown rectangle button via the right arm.",
+    "Interact with the beige switch with smooth finish directly",
+    "Trigger the tiny matte beige toggle switch with precision",
+    "Activate the light plastic switch with robotic precision",
+    "Activate the hand-sized light beige switch directly",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Press the hand-sized light beige switch using robotic control",
+    "Click on the switch with a smooth top precisely",
+    "Initiate the matte beige switch with flat top by clicking",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Engage the small trapezoid switch using the right arm",
+    "Click the matte beige switch with flat top using automated tools",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Trigger the matte beige switch with flat top without referencing the right arm",
+    "Set the right arm to press the matte beige switch with flat top",
+    "Trigger the light plastic switch using the right arm",
+    "Click the switch with brown button to activate it",
+    "Engage the beige switch with smooth finish with a press.",
+    "Engage the tiny matte beige toggle switch using the right arm.",
+    "Engage the right arm to press the small trapezoid switch",
+    "Press the switch with a smooth top via automation",
+    "Press the switch with brown button to activate.",
+    "Deploy the right arm to press the matte beige switch with flat top",
+    "Use the right arm for switching the hand-sized light beige switch",
+    "Press the switch with a smooth top using the right arm.",
+    "Use the right arm to interact with the beige switch with smooth finish",
+    "Engage with the beige switch manually",
+    "Operate the right arm to engage the toggle switch with brown rectangle button",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Set the switch at the switch with rectangular dark button",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Press the tiny matte beige toggle switch carefully with the right arm",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Command the right arm to engage the toggle switch with brown rectangle button",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Engage the beige switch using the robotic arm",
+    "Press the matte beige switch with flat top directly",
+    "Locate and press the light plastic switch",
+    "Activate the hand-sized light beige switch with the right arm.",
+    "Tap the hand-sized light beige switch to engage it",
+    "Click the switch with brown button directly.",
+    "Press the switch with brown button with the right arm",
+    "Interact with the small trapezoid switch.",
+    "Operate the toggle switch with brown rectangle button with the right arm",
+    "Use the right arm to engage the light plastic switch",
+    "Switch the small trapezoid switch to its active state",
+    "Approach and tap the switch with a smooth top via the right arm",
+    "Move to the beige switch with smooth finish and click it.",
+    "Directly interact with the small trapezoid switch",
+    "Direct the right arm to operate the beige switch with smooth finish",
+    "Push the beige switch via the right arm.",
+    "Interact with the light plastic switch directly",
+    "Trigger the switch with rectangular dark button with precision",
+    "Activate the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Activate the toggle switch with brown rectangle button directly",
+    "Locate and press the beige switch",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Click on the matte beige switch with flat top precisely",
+    "Initiate the beige switch by clicking",
+    "Activate the the hand-sized light beige switch using the right arm",
+    "Engage the switch with brown button using the right arm",
+    "Click the switch with brown button using automated tools",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Set the right arm to press the toggle switch with brown rectangle button",
+    "Trigger the matte beige switch with flat top using the right arm",
+    "Click the beige switch to activate it",
+    "Engage the hand-sized light beige switch with a press.",
+    "Engage the switch with a smooth top using the right arm.",
+    "Engage the right arm to press the beige switch",
+    "Press the switch with brown button via automation",
+    "Press the small trapezoid switch to activate.",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Use the right arm for switching the beige switch with smooth finish",
+    "Press the switch with a smooth top using the right arm.",
+    "Use the right arm to interact with the tiny matte beige toggle switch",
+    "Engage with the switch with rectangular dark button manually",
+    "Operate the right arm to engage the hand-sized light beige switch",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Set the switch at the switch with brown button",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Press the toggle switch with brown rectangle button carefully with the right arm",
+    "Activate the beige switch by pressing it",
+    "Command the right arm to engage the light plastic switch",
+    "Activate the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Press the matte beige switch with flat top directly",
+    "Locate and press the small trapezoid switch"
+  ],
+  "unseen": [
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode178.json b/turn_switch/piper_randomized_500/instructions/episode178.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1b7831f2e35189e5ff4f7d1d52529cfe39212b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode178.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to operate the plastic switch with matte buttons",
+    "Trigger the gray plastic switch without referencing the left arm",
+    "Click the smooth gray switch directly.",
+    "Press the smooth gray switch to activate.",
+    "Use the left arm for switching the switch with trapezoidal base",
+    "Click on the two-button gray switch precisely",
+    "Deploy the left arm to press the plastic switch with matte buttons",
+    "Trigger the two-button gray switch using the left arm",
+    "Press the gray switch with black buttons via automation",
+    "Activate the gray base with black buttons with the left arm.",
+    "Use the left arm to interact with the two-button gray switch",
+    "Interact with the smooth gray switch.",
+    "Engage the trapezoidal base switch using the left arm.",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Click the electric toggle switch using automated tools",
+    "Set the switch at the smooth gray switch",
+    "Set the left arm to press the handheld switch",
+    "Approach and tap the smooth gray switch via the left arm",
+    "Use the left arm to engage the switch with trapezoidal base",
+    "Click the two-button gray switch with robotic precision",
+    "Press the gray switch with black buttons with the left arm",
+    "Activate the two-button gray switch via the left arm",
+    "Directly interact with the gray switch with black buttons",
+    "Press the plastic switch with matte buttons carefully with the left arm",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Engage the gray base with black buttons using the left arm",
+    "Trigger the gray smooth surface switch with precision",
+    "Tap the switch with trapezoidal base to engage it",
+    "Locate and press the gray switch with black buttons",
+    "Initiate the electric toggle switch by clicking",
+    "Press the trapezoidal base switch using the left arm.",
+    "Engage the left arm to press the gray plastic switch",
+    "Activate the handheld switch directly",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Switch the electric toggle switch to its active state",
+    "Press the gray plastic switch directly",
+    "Push the gray smooth surface switch via the left arm.",
+    "Activate the the two-button gray switch using the left arm",
+    "Click the electric toggle switch to activate it",
+    "Activate the smooth gray switch with robotic precision",
+    "Operate the gray smooth surface switch with the left arm",
+    "Engage the plastic switch with matte buttons using the robotic arm",
+    "Operate the left arm to engage the electric toggle switch",
+    "Engage with the gray smooth surface switch manually",
+    "Command the left arm to engage the electric toggle switch",
+    "Deploy the left arm to operate the two-button gray switch",
+    "Press the smooth gray switch using robotic control",
+    "Locate and press the gray base with black buttons",
+    "Interact with the switch with trapezoidal base directly",
+    "Toggle the handheld switch with the left arm.",
+    "Direct the left arm to operate the plastic switch with matte buttons",
+    "Trigger the gray plastic switch without referencing the left arm",
+    "Click the medium switch with trapezoidal base directly.",
+    "Press the trapezoidal base switch to activate.",
+    "Use the left arm for switching the trapezoidal base switch",
+    "Click on the smooth gray switch precisely",
+    "Deploy the left arm to press the gray base with black buttons",
+    "Trigger the gray base with black buttons using the left arm",
+    "Press the electric toggle switch via automation",
+    "Activate the trapezoidal base switch with the left arm.",
+    "Use the left arm to interact with the electric toggle switch",
+    "Interact with the smooth gray switch.",
+    "Engage the smooth gray switch using the left arm.",
+    "Activate the smooth gray switch by pressing it",
+    "Click the gray switch with black buttons using automated tools",
+    "Set the switch at the gray base with black buttons",
+    "Set the left arm to press the gray base with black buttons",
+    "Approach and tap the smooth gray switch via the left arm",
+    "Use the left arm to engage the electric toggle switch",
+    "Click the smooth gray switch with robotic precision",
+    "Press the gray plastic switch with the left arm",
+    "Activate the trapezoidal base switch via the left arm",
+    "Directly interact with the electric toggle switch",
+    "Press the two-button gray switch carefully with the left arm",
+    "Engage the handheld switch with a press.",
+    "Engage the plastic switch with matte buttons using the left arm",
+    "Trigger the smooth gray switch with precision",
+    "Tap the gray base with black buttons to engage it",
+    "Locate and press the handheld switch",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Press the smooth gray switch using the left arm.",
+    "Engage the left arm to press the gray switch with black buttons",
+    "Activate the electric toggle switch directly",
+    "Move to the gray switch with black buttons and click it.",
+    "Switch the gray base with black buttons to its active state",
+    "Press the medium switch with trapezoidal base directly",
+    "Push the gray switch with black buttons via the left arm.",
+    "Activate the the trapezoidal base switch using the left arm",
+    "Click the two-button gray switch to activate it",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Operate the gray plastic switch with the left arm",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Operate the left arm to engage the gray switch with black buttons",
+    "Engage with the handheld switch manually",
+    "Command the left arm to engage the two-button gray switch",
+    "Deploy the left arm to operate the gray plastic switch",
+    "Press the gray smooth surface switch using robotic control",
+    "Locate and press the gray plastic switch",
+    "Interact with the gray switch with black buttons directly",
+    "Toggle the trapezoidal base switch with the left arm."
+  ],
+  "unseen": [
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Activate the switch at the switch with circular black buttons"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode183.json b/turn_switch/piper_randomized_500/instructions/episode183.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57e0083bcae36d05dfc267ab2295852179c1a89
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode183.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the flat square with raised center and click it.",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Tap the light gray plastic switch to engage it",
+    "Activate the square switch with smooth surface with the right arm.",
+    "Locate and press the palm-sized light gray switch",
+    "Click the angled-edge gray square switch to activate it",
+    "Deploy the right arm to press the switch for electrical control",
+    "Engage the flat square with raised center using the robotic arm",
+    "Trigger the flat square with raised center without referencing the right arm",
+    "Direct the right arm to operate the palm-sized light gray switch",
+    "Click the angled-edge gray square switch directly.",
+    "Use the right arm to engage the square switch with smooth surface",
+    "Engage the switch with smooth light gray finish using the right arm.",
+    "Click the angled-edge gray square switch using automated tools",
+    "Click on the flat square with raised center precisely",
+    "Activate the switch for electrical control via the right arm",
+    "Engage the square gray switch panel using the right arm",
+    "Initiate the square switch with smooth surface by clicking",
+    "Operate the right arm to engage the smooth gray switch",
+    "Activate the the palm-sized light gray switch using the right arm",
+    "Click the switch with smooth light gray finish with robotic precision",
+    "Engage the right arm to press the small square switch made of plastic",
+    "Press the small square switch via automation",
+    "Operate the angled-edge gray square switch with the right arm",
+    "Toggle the small square switch made of plastic with the right arm.",
+    "Set the right arm to press the light gray plastic switch",
+    "Push the switch with rectangular raised area via the right arm.",
+    "Activate the switch with smooth light gray finish directly",
+    "Press the small square switch made of plastic to activate.",
+    "Deploy the right arm to operate the square gray switch panel",
+    "Directly interact with the small square switch made of plastic",
+    "Locate and press the square gray switch panel",
+    "Press the flat square with raised center carefully with the right arm",
+    "Press the small square switch made of plastic using robotic control",
+    "Interact with the flat square with raised center.",
+    "Switch the switch with rectangular raised area to its active state",
+    "Activate the switch with rectangular raised area by pressing it",
+    "Interact with the angled-edge gray square switch directly",
+    "Use the right arm to interact with the switch with rectangular raised area",
+    "Trigger the light gray plastic switch using the right arm",
+    "Press the angled-edge gray square switch directly",
+    "Set the switch at the square switch with smooth surface",
+    "Approach and tap the small square switch via the right arm",
+    "Press the square switch with smooth surface with the right arm",
+    "Command the right arm to engage the palm-sized light gray switch",
+    "Trigger the switch with smooth light gray finish with precision",
+    "Use the right arm for switching the angled-edge gray square switch",
+    "Engage with the switch with smooth light gray finish manually",
+    "Engage the square gray switch panel with a press.",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Move to the switch with rectangular raised area and click it.",
+    "Activate the light gray plastic switch with robotic precision",
+    "Tap the square gray switch panel to engage it",
+    "Activate the angled-edge gray square switch with the right arm.",
+    "Locate and press the small square switch made of plastic",
+    "Click the flat square with raised center to activate it",
+    "Deploy the right arm to press the light gray plastic switch",
+    "Engage the switch for electrical control using the robotic arm",
+    "Trigger the small square switch without referencing the right arm",
+    "Direct the right arm to operate the square switch with smooth surface",
+    "Click the small square switch made of plastic directly.",
+    "Use the right arm to engage the small square switch made of plastic",
+    "Engage the angled-edge gray square switch using the right arm.",
+    "Click the switch with rectangular raised area using automated tools",
+    "Click on the smooth gray switch precisely",
+    "Activate the square switch with smooth surface via the right arm",
+    "Engage the square switch with smooth surface using the right arm",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Operate the right arm to engage the square gray switch panel",
+    "Activate the the square switch with smooth surface using the right arm",
+    "Click the square switch with smooth surface with robotic precision",
+    "Engage the right arm to press the square gray switch panel",
+    "Press the square switch with smooth surface via automation",
+    "Operate the small square switch with the right arm",
+    "Toggle the switch with rectangular raised area with the right arm.",
+    "Set the right arm to press the angled-edge gray square switch",
+    "Push the switch with smooth light gray finish via the right arm.",
+    "Activate the square gray switch panel directly",
+    "Press the palm-sized light gray switch to activate.",
+    "Deploy the right arm to operate the small square switch",
+    "Directly interact with the switch with rectangular raised area",
+    "Locate and press the switch with rectangular raised area",
+    "Press the square switch with smooth surface carefully with the right arm",
+    "Press the flat square with raised center using robotic control",
+    "Interact with the switch with rectangular raised area.",
+    "Switch the switch with smooth light gray finish to its active state",
+    "Activate the square switch with smooth surface by pressing it",
+    "Interact with the square gray switch panel directly",
+    "Use the right arm to interact with the square gray switch panel",
+    "Trigger the switch for electrical control using the right arm",
+    "Press the palm-sized light gray switch directly",
+    "Set the switch at the flat square with raised center",
+    "Approach and tap the light gray plastic switch via the right arm",
+    "Press the switch with smooth light gray finish with the right arm",
+    "Command the right arm to engage the small square switch made of plastic",
+    "Trigger the palm-sized light gray switch with precision",
+    "Use the right arm for switching the square gray switch panel",
+    "Engage with the angled-edge gray square switch manually",
+    "Engage the switch with rectangular raised area with a press.",
+    "Press the smooth gray switch using the right arm."
+  ],
+  "unseen": [
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode184.json b/turn_switch/piper_randomized_500/instructions/episode184.json
new file mode 100644
index 0000000000000000000000000000000000000000..df368b9bcd77a1e2cdefaa07422243843caf2d1f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode184.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the red and black electrical switch with robotic precision",
+    "Press the switch for turning circuits on off via automation",
+    "Set the switch at the two-tone red black switch",
+    "Directly interact with the black base switch",
+    "Press the black base switch directly",
+    "Click the red and black electrical switch to activate it",
+    "Command the right arm to engage the small switch with red lever",
+    "Direct the right arm to operate the metal-pronged black switch",
+    "Locate and press the black base switch",
+    "Engage with the switch with three metal pins manually",
+    "Press the switch with three metal pins using robotic control",
+    "Engage the small switch with red lever using the robotic arm",
+    "Tap the toggle switch with black housing to engage it",
+    "Approach and tap the switch for turning circuits on off via the right arm",
+    "Click the tiny rectangular switch using automated tools",
+    "Click the switch for turning circuits on off directly.",
+    "Deploy the right arm to press the black base switch",
+    "Use the right arm to engage the two-tone red black switch",
+    "Press the toggle switch with black housing carefully with the right arm",
+    "Engage the smooth red switch with labels with a press.",
+    "Initiate the toggle switch with black housing by clicking",
+    "Locate and press the metal-pronged black switch",
+    "Switch the black base switch to its active state",
+    "Interact with the tiny rectangular switch directly",
+    "Activate the plastic switch with metal prongs via the right arm",
+    "Engage the right arm to press the toggle switch with black housing",
+    "Activate the the rectangular switch using the right arm",
+    "Interact with the plastic switch with metal prongs.",
+    "Move to the metal-pronged black switch and click it.",
+    "Activate the rectangular switch directly",
+    "Press the tiny rectangular switch to activate.",
+    "Press the smooth red switch with labels using the right arm.",
+    "Use the right arm to interact with the plastic switch with metal prongs",
+    "Operate the right arm to engage the smooth red switch with labels",
+    "Set the right arm to press the two-tone red black switch",
+    "Toggle the red and black electrical switch with the right arm.",
+    "Activate the black base switch with the right arm.",
+    "Engage the toggle switch with black housing using the right arm.",
+    "Click the small switch with red lever with robotic precision",
+    "Trigger the metal-pronged black switch with precision",
+    "Press the metal-pronged black switch with the right arm",
+    "Use the right arm for switching the tiny rectangular switch",
+    "Trigger the toggle switch with black housing without referencing the right arm",
+    "Click on the toggle switch with black housing precisely",
+    "Deploy the right arm to operate the plastic switch with metal prongs",
+    "Push the rectangular switch via the right arm.",
+    "Activate the plastic switch with metal prongs by pressing it",
+    "Trigger the rectangular switch using the right arm",
+    "Engage the plastic switch with metal prongs using the right arm",
+    "Operate the black base switch with the right arm",
+    "Activate the two-tone red black switch with robotic precision",
+    "Press the black base switch via automation",
+    "Set the switch at the plastic switch with metal prongs",
+    "Directly interact with the red and black electrical switch",
+    "Press the tiny rectangular switch directly",
+    "Click the tiny rectangular switch to activate it",
+    "Command the right arm to engage the metal-pronged black switch",
+    "Direct the right arm to operate the smooth red switch with labels",
+    "Locate and press the smooth red switch with labels",
+    "Engage with the red and black electrical switch manually",
+    "Press the metal-pronged black switch using robotic control",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Tap the two-tone red black switch to engage it",
+    "Approach and tap the black base switch via the right arm",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Click the tiny rectangular switch directly.",
+    "Deploy the right arm to press the tiny rectangular switch",
+    "Use the right arm to engage the metal-pronged black switch",
+    "Press the plastic switch with metal prongs carefully with the right arm",
+    "Engage the red and black electrical switch with a press.",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Locate and press the switch for turning circuits on off",
+    "Switch the two-tone red black switch to its active state",
+    "Interact with the switch with three metal pins directly",
+    "Activate the tiny rectangular switch via the right arm",
+    "Engage the right arm to press the small switch with red lever",
+    "Activate the the switch for turning circuits on off using the right arm",
+    "Interact with the rectangular switch.",
+    "Move to the tiny rectangular switch and click it.",
+    "Activate the black base switch directly",
+    "Press the toggle switch with black housing to activate.",
+    "Press the small switch with red lever using the right arm.",
+    "Use the right arm to interact with the rectangular switch",
+    "Operate the right arm to engage the switch with three metal pins",
+    "Set the right arm to press the tiny rectangular switch",
+    "Toggle the metal-pronged black switch with the right arm.",
+    "Activate the red and black electrical switch with the right arm.",
+    "Engage the smooth red switch with labels using the right arm.",
+    "Click the tiny rectangular switch with robotic precision",
+    "Trigger the two-tone red black switch with precision",
+    "Press the red and black electrical switch with the right arm",
+    "Use the right arm for switching the rectangular switch",
+    "Trigger the small switch with red lever without referencing the right arm",
+    "Click on the tiny rectangular switch precisely",
+    "Deploy the right arm to operate the switch with three metal pins",
+    "Push the rectangular switch via the right arm.",
+    "Activate the smooth red switch with labels by pressing it",
+    "Trigger the tiny rectangular switch using the right arm",
+    "Engage the rectangular switch using the right arm",
+    "Operate the two-tone red black switch with the right arm"
+  ],
+  "unseen": [
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode188.json b/turn_switch/piper_randomized_500/instructions/episode188.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ba69de8a6bdcb6226c7273cc8dd9482125a383
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode188.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the control switch",
+    "Locate and press the slanted-edge plastic black switch",
+    "Activate the compact rectangular black switch by pressing it",
+    "Click the black switch using automated tools",
+    "Trigger the sleek black rectangular switch without referencing the right arm",
+    "Use the right arm to engage the compact rectangular black switch",
+    "Press the black switch with the right arm",
+    "Press the black rectangular control switch using robotic control",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Click the compact rectangular black switch to activate it",
+    "Press the black rectangular control switch directly",
+    "Activate the the switch with slanted sides using the right arm",
+    "Engage the rectangular switch with smooth surface using the right arm",
+    "Use the right arm for switching the palm-sized black switch",
+    "Activate the black rectangular control switch via the right arm",
+    "Operate the black switch with matte coating with the right arm",
+    "Activate the compact rectangular black switch with the right arm.",
+    "Set the switch at the black switch",
+    "Engage with the black rectangular control switch manually",
+    "Command the right arm to engage the medium-sized black rectangular switch",
+    "Toggle the switch with slanted sides with the right arm.",
+    "Press the switch with slanted sides carefully with the right arm",
+    "Click the sleek black rectangular switch with robotic precision",
+    "Press the black rectangular control switch using the right arm.",
+    "Deploy the right arm to operate the black switch",
+    "Activate the black switch with slim profile directly",
+    "Move to the black switch and click it.",
+    "Click the rectangular switch with smooth surface directly.",
+    "Engage the switch with slanted sides with a press.",
+    "Trigger the rectangular switch with smooth surface using the right arm",
+    "Click on the black switch with matte coating precisely",
+    "Switch the black switch with slim profile to its active state",
+    "Engage the right arm to press the compact rectangular black switch",
+    "Interact with the black switch with matte coating.",
+    "Engage the switch with slanted sides using the robotic arm",
+    "Trigger the black rectangular control switch with precision",
+    "Approach and tap the compact rectangular black switch via the right arm",
+    "Operate the right arm to engage the black switch with matte coating",
+    "Set the right arm to press the black rectangular control switch",
+    "Tap the palm-sized black switch to engage it",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Engage the medium-sized black rectangular switch using the right arm.",
+    "Activate the black switch with slim profile with robotic precision",
+    "Press the black switch with matte coating via automation",
+    "Use the right arm to interact with the sleek black rectangular switch",
+    "Direct the right arm to operate the rectangular switch with smooth surface",
+    "Interact with the palm-sized black switch directly",
+    "Directly interact with the switch with slanted sides",
+    "Push the rectangular switch with smooth surface via the right arm.",
+    "Locate and press the sleek black rectangular switch",
+    "Locate and press the control switch",
+    "Activate the palm-sized black switch by pressing it",
+    "Click the palm-sized black switch using automated tools",
+    "Trigger the slanted-edge plastic black switch without referencing the right arm",
+    "Use the right arm to engage the slanted-edge plastic black switch",
+    "Press the compact rectangular black switch with the right arm",
+    "Press the black switch with slim profile using robotic control",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Press the black switch to activate.",
+    "Click the medium-sized black rectangular switch to activate it",
+    "Press the control switch directly",
+    "Activate the the black switch with slim profile using the right arm",
+    "Engage the black switch using the right arm",
+    "Use the right arm for switching the palm-sized black switch",
+    "Activate the black switch via the right arm",
+    "Operate the compact rectangular black switch with the right arm",
+    "Activate the switch with slanted sides with the right arm.",
+    "Set the switch at the control switch",
+    "Engage with the black switch manually",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Toggle the switch with slanted sides with the right arm.",
+    "Press the palm-sized black switch carefully with the right arm",
+    "Click the medium-sized black rectangular switch with robotic precision",
+    "Press the control switch using the right arm.",
+    "Deploy the right arm to operate the switch with slanted sides",
+    "Activate the compact rectangular black switch directly",
+    "Move to the compact rectangular black switch and click it.",
+    "Click the palm-sized black switch directly.",
+    "Engage the medium-sized black rectangular switch with a press.",
+    "Trigger the black rectangular control switch using the right arm",
+    "Click on the black switch with slim profile precisely",
+    "Switch the control switch to its active state",
+    "Engage the right arm to press the slanted-edge plastic black switch",
+    "Interact with the black switch with slim profile.",
+    "Engage the sleek black rectangular switch using the robotic arm",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Operate the right arm to engage the sleek black rectangular switch",
+    "Set the right arm to press the black rectangular control switch",
+    "Tap the sleek black rectangular switch to engage it",
+    "Deploy the right arm to press the rectangular switch with smooth surface",
+    "Engage the palm-sized black switch using the right arm.",
+    "Activate the black switch with robotic precision",
+    "Press the black switch via automation",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Direct the right arm to operate the rectangular switch with smooth surface",
+    "Interact with the black switch directly",
+    "Directly interact with the medium-sized black rectangular switch",
+    "Push the black switch with slim profile via the right arm."
+  ],
+  "unseen": [
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode189.json b/turn_switch/piper_randomized_500/instructions/episode189.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08956b404781a8eb64826782360daaf9f28491d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode189.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the smooth gray switch with precision",
+    "Engage with the smooth gray switch manually",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Set the switch at the gray plastic switch",
+    "Engage the gray switch with black buttons using the right arm.",
+    "Trigger the switch with trapezoidal base without referencing the right arm",
+    "Click the electric toggle switch to activate it",
+    "Use the right arm to interact with the trapezoidal base switch",
+    "Activate the medium switch with trapezoidal base with robotic precision",
+    "Engage the trapezoidal base switch with a press.",
+    "Tap the two-button gray switch to engage it",
+    "Use the right arm to engage the two-button gray switch",
+    "Press the handheld switch via automation",
+    "Activate the handheld switch directly",
+    "Interact with the gray smooth surface switch.",
+    "Move to the gray base with black buttons and click it.",
+    "Set the right arm to press the plastic switch with matte buttons",
+    "Trigger the switch with trapezoidal base using the right arm",
+    "Click the gray smooth surface switch with robotic precision",
+    "Locate and press the trapezoidal base switch",
+    "Click on the two-button gray switch precisely",
+    "Approach and tap the plastic switch with matte buttons via the right arm",
+    "Operate the gray smooth surface switch with the right arm",
+    "Push the smooth gray switch via the right arm.",
+    "Switch the switch with trapezoidal base to its active state",
+    "Press the trapezoidal base switch carefully with the right arm",
+    "Activate the the trapezoidal base switch using the right arm",
+    "Press the switch with trapezoidal base directly",
+    "Activate the handheld switch by pressing it",
+    "Toggle the handheld switch with the right arm.",
+    "Command the right arm to engage the switch with trapezoidal base",
+    "Operate the right arm to engage the handheld switch",
+    "Activate the trapezoidal base switch with the right arm.",
+    "Use the right arm for switching the gray plastic switch",
+    "Interact with the trapezoidal base switch directly",
+    "Engage the gray plastic switch using the robotic arm",
+    "Engage the gray plastic switch using the right arm",
+    "Press the electric toggle switch with the right arm",
+    "Press the plastic switch with matte buttons to activate.",
+    "Click the trapezoidal base switch using automated tools",
+    "Deploy the right arm to operate the gray smooth surface switch",
+    "Click the trapezoidal base switch directly.",
+    "Activate the trapezoidal base switch via the right arm",
+    "Deploy the right arm to press the handheld switch",
+    "Engage the right arm to press the trapezoidal base switch",
+    "Press the gray switch with black buttons using the right arm.",
+    "Direct the right arm to operate the smooth gray switch",
+    "Locate and press the trapezoidal base switch",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Directly interact with the handheld switch",
+    "Trigger the smooth gray switch with precision",
+    "Engage with the smooth gray switch manually",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Set the switch at the plastic switch with matte buttons",
+    "Engage the medium switch with trapezoidal base using the right arm.",
+    "Trigger the two-button gray switch without referencing the right arm",
+    "Click the electric toggle switch to activate it",
+    "Use the right arm to interact with the electric toggle switch",
+    "Activate the gray base with black buttons with robotic precision",
+    "Engage the two-button gray switch with a press.",
+    "Tap the smooth gray switch to engage it",
+    "Use the right arm to engage the gray base with black buttons",
+    "Press the electric toggle switch via automation",
+    "Activate the electric toggle switch directly",
+    "Interact with the handheld switch.",
+    "Move to the electric toggle switch and click it.",
+    "Set the right arm to press the gray switch with black buttons",
+    "Trigger the gray plastic switch using the right arm",
+    "Click the gray switch with black buttons with robotic precision",
+    "Locate and press the handheld switch",
+    "Click on the electric toggle switch precisely",
+    "Approach and tap the switch with trapezoidal base via the right arm",
+    "Operate the gray base with black buttons with the right arm",
+    "Push the handheld switch via the right arm.",
+    "Switch the two-button gray switch to its active state",
+    "Press the trapezoidal base switch carefully with the right arm",
+    "Activate the the handheld switch using the right arm",
+    "Press the smooth gray switch directly",
+    "Activate the gray base with black buttons by pressing it",
+    "Toggle the handheld switch with the right arm.",
+    "Command the right arm to engage the gray smooth surface switch",
+    "Operate the right arm to engage the gray smooth surface switch",
+    "Activate the smooth gray switch with the right arm.",
+    "Use the right arm for switching the medium switch with trapezoidal base",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Engage the gray switch with black buttons using the right arm",
+    "Press the gray smooth surface switch with the right arm",
+    "Press the gray switch with black buttons to activate.",
+    "Click the gray plastic switch using automated tools",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Click the plastic switch with matte buttons directly.",
+    "Activate the trapezoidal base switch via the right arm",
+    "Deploy the right arm to press the plastic switch with matte buttons",
+    "Engage the right arm to press the gray plastic switch",
+    "Press the smooth gray switch using the right arm.",
+    "Direct the right arm to operate the two-button gray switch",
+    "Locate and press the smooth gray switch",
+    "Press the two-button gray switch using robotic control",
+    "Directly interact with the gray smooth surface switch"
+  ],
+  "unseen": [
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Direct the right arm to click the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the switch with circular black buttons using the right arm",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Direct the right arm to click the gray switch",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Direct the right arm to click the gray switch",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Direct the right arm to click the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Direct the right arm to click the gray switch",
+    "Move and click the the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Direct the right arm to click the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode194.json b/turn_switch/piper_randomized_500/instructions/episode194.json
new file mode 100644
index 0000000000000000000000000000000000000000..90fd07baa3d4b6ead80b070f1f3a55082aca0eb7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode194.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the switch with darker rectangle by clicking",
+    "Press the tan switch with the right arm",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Press the rectangular switch with slanted sides via automation",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Activate the flat switch via the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Interact with the small light tan switch.",
+    "Press the tan switch to activate.",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Activate the light tan rectangular switch smooth finish directly",
+    "Click the rectangular switch with slanted sides directly.",
+    "Press the flat switch carefully with the right arm",
+    "Engage the right arm to press the tan switch",
+    "Click the plastic switch with angled edges with robotic precision",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Push the plastic switch with angled edges via the right arm.",
+    "Press the tan switch using robotic control",
+    "Toggle the small light tan switch with the right arm.",
+    "Set the right arm to press the switch with darker rectangle",
+    "Activate the flat switch with the right arm.",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Click the small light tan switch using automated tools",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Locate and press the small light tan switch",
+    "Press the light tan rectangular switch smooth finish using the right arm.",
+    "Locate and press the flat switch",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Move to the small light tan switch and click it.",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Directly interact with the plastic switch with angled edges",
+    "Activate the the angled switch light tan color using the right arm",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Operate the right arm to engage the plastic switch with angled edges",
+    "Press the switch with darker rectangle directly",
+    "Command the right arm to engage the switch trapezoid shape brown marking",
+    "Direct the right arm to operate the light tan rectangular switch smooth finish",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Switch the flat switch to its active state",
+    "Activate the small light tan switch with robotic precision",
+    "Engage the small light tan switch using the right arm.",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Initiate the switch with darker rectangle by clicking",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Use the right arm to interact with the light tan rectangular switch smooth finish",
+    "Press the switch trapezoid shape brown marking via automation",
+    "Trigger the small light tan switch without referencing the right arm",
+    "Activate the flat switch via the right arm",
+    "Trigger the switch trapezoid shape brown marking using the right arm",
+    "Set the switch at the tan switch",
+    "Interact with the switch trapezoid shape brown marking.",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Activate the smooth tan switch with textured sides directly",
+    "Click the tan switch directly.",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Engage the right arm to press the flat switch",
+    "Click the switch with darker rectangle with robotic precision",
+    "Operate the tan switch with the right arm",
+    "Activate the tan switch by pressing it",
+    "Engage the switch trapezoid shape brown marking using the right arm",
+    "Push the angled switch light tan color via the right arm.",
+    "Press the angled switch light tan color using robotic control",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Set the right arm to press the tan switch",
+    "Activate the switch trapezoid shape brown marking with the right arm.",
+    "Use the right arm for switching the angled switch light tan color",
+    "Approach and tap the angled switch light tan color via the right arm",
+    "Click the plastic switch with angled edges using automated tools",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Press the tan switch using the right arm.",
+    "Locate and press the rectangular switch with slanted sides",
+    "Click the flat switch to activate it",
+    "Tap the tan switch to engage it",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Engage the small light tan switch with a press.",
+    "Engage with the plastic switch with angled edges manually",
+    "Directly interact with the switch trapezoid shape brown marking",
+    "Activate the the hand-sized switch tan smooth finish using the right arm",
+    "Interact with the trapezoid-shaped switch smooth surface directly",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Operate the right arm to engage the small light tan switch",
+    "Press the smooth tan switch with textured sides directly",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Direct the right arm to operate the smooth tan switch with textured sides",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Switch the flat switch to its active state",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Engage the plastic switch with angled edges using the right arm.",
+    "Trigger the tan switch with precision"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode195.json b/turn_switch/piper_randomized_500/instructions/episode195.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc22b28ed8c732b06c3586ed25b1a0288a268db
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode195.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the smooth gray switch directly",
+    "Use the left arm to interact with the small square switch made of plastic",
+    "Click the switch for electrical control directly.",
+    "Operate the square switch with smooth surface with the left arm",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Activate the smooth gray switch directly",
+    "Use the left arm for switching the switch with rectangular raised area",
+    "Initiate the light gray plastic switch by clicking",
+    "Set the left arm to press the small square switch made of plastic",
+    "Locate and press the square gray switch panel",
+    "Set the switch at the square switch with smooth surface",
+    "Press the light gray plastic switch to activate.",
+    "Direct the left arm to operate the light gray plastic switch",
+    "Switch the switch with smooth light gray finish to its active state",
+    "Activate the switch with smooth light gray finish by pressing it",
+    "Push the switch for electrical control via the left arm.",
+    "Deploy the left arm to operate the switch with smooth light gray finish",
+    "Command the left arm to engage the angled-edge gray square switch",
+    "Press the angled-edge gray square switch via automation",
+    "Click the light gray plastic switch to activate it",
+    "Activate the the square gray switch panel using the left arm",
+    "Trigger the small square switch without referencing the left arm",
+    "Approach and tap the small square switch via the left arm",
+    "Press the switch for electrical control with the left arm",
+    "Activate the flat square with raised center with robotic precision",
+    "Activate the switch for electrical control via the left arm",
+    "Operate the left arm to engage the switch with smooth light gray finish",
+    "Click the palm-sized light gray switch with robotic precision",
+    "Click the switch for electrical control using automated tools",
+    "Engage the palm-sized light gray switch using the robotic arm",
+    "Click on the square switch with smooth surface precisely",
+    "Engage the small square switch made of plastic using the left arm",
+    "Engage the square switch with smooth surface using the left arm.",
+    "Locate and press the small square switch made of plastic",
+    "Engage the flat square with raised center with a press.",
+    "Tap the smooth gray switch to engage it",
+    "Interact with the square switch with smooth surface.",
+    "Activate the switch for electrical control with the left arm.",
+    "Directly interact with the palm-sized light gray switch",
+    "Toggle the angled-edge gray square switch with the left arm.",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Press the smooth gray switch using robotic control",
+    "Press the flat square with raised center using the left arm.",
+    "Press the switch with rectangular raised area carefully with the left arm",
+    "Deploy the left arm to press the square switch with smooth surface",
+    "Trigger the square switch with smooth surface using the left arm",
+    "Interact with the switch with rectangular raised area directly",
+    "Trigger the switch with smooth light gray finish with precision",
+    "Use the left arm to engage the switch with smooth light gray finish",
+    "Engage with the flat square with raised center manually",
+    "Press the switch with rectangular raised area directly",
+    "Use the left arm to interact with the square gray switch panel",
+    "Click the small square switch directly.",
+    "Operate the switch with rectangular raised area with the left arm",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Activate the palm-sized light gray switch directly",
+    "Use the left arm for switching the switch for electrical control",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Set the left arm to press the small square switch",
+    "Locate and press the square gray switch panel",
+    "Set the switch at the angled-edge gray square switch",
+    "Press the light gray plastic switch to activate.",
+    "Direct the left arm to operate the square gray switch panel",
+    "Switch the switch with smooth light gray finish to its active state",
+    "Activate the small square switch made of plastic by pressing it",
+    "Push the palm-sized light gray switch via the left arm.",
+    "Deploy the left arm to operate the square gray switch panel",
+    "Command the left arm to engage the square switch with smooth surface",
+    "Press the small square switch made of plastic via automation",
+    "Click the switch with rectangular raised area to activate it",
+    "Activate the the palm-sized light gray switch using the left arm",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Approach and tap the light gray plastic switch via the left arm",
+    "Press the palm-sized light gray switch with the left arm",
+    "Activate the small square switch made of plastic with robotic precision",
+    "Activate the angled-edge gray square switch via the left arm",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Click the small square switch with robotic precision",
+    "Click the flat square with raised center using automated tools",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Click on the palm-sized light gray switch precisely",
+    "Engage the flat square with raised center using the left arm",
+    "Engage the switch for electrical control using the left arm.",
+    "Locate and press the light gray plastic switch",
+    "Engage the square switch with smooth surface with a press.",
+    "Tap the flat square with raised center to engage it",
+    "Interact with the light gray plastic switch.",
+    "Activate the smooth gray switch with the left arm.",
+    "Directly interact with the light gray plastic switch",
+    "Toggle the square switch with smooth surface with the left arm.",
+    "Engage the left arm to press the switch with smooth light gray finish",
+    "Press the palm-sized light gray switch using robotic control",
+    "Press the square switch with smooth surface using the left arm.",
+    "Press the square gray switch panel carefully with the left arm",
+    "Deploy the left arm to press the square switch with smooth surface",
+    "Trigger the small square switch using the left arm",
+    "Interact with the switch with rectangular raised area directly",
+    "Trigger the small square switch with precision",
+    "Use the left arm to engage the flat square with raised center",
+    "Engage with the flat square with raised center manually"
+  ],
+  "unseen": [
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm.",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm.",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm.",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the left arm.",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Direct the left arm to click the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode198.json b/turn_switch/piper_randomized_500/instructions/episode198.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e319ce4a5d3ab55dbef7c7d47fa0d2c3f1d25ce
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the toggle switch light gray base via the right arm",
+    "Press the switch with thin red toggle to activate.",
+    "Deploy the right arm to operate the red bar switch",
+    "Press the electrical switch with protruding toggle directly",
+    "Push the switch with thin red toggle via the right arm.",
+    "Engage the switch with thin red toggle using the right arm.",
+    "Press the electrical switch with protruding toggle via automation",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Trigger the switch for electrical control with precision",
+    "Activate the light gray square switch with robotic precision",
+    "Direct the right arm to operate the square switch with red bar",
+    "Click on the control switch with red lever precisely",
+    "Engage the right arm to press the compact switch with flat base",
+    "Operate the right arm to engage the gray switch with red toggle",
+    "Use the right arm for switching the red bar switch",
+    "Click the switch with robotic precision",
+    "Command the right arm to engage the compact switch with flat base",
+    "Press the switch for electrical control with the right arm",
+    "Locate and press the plastic gray body switch",
+    "Press the toggle switch light gray base carefully with the right arm",
+    "Switch the light gray square switch to its active state",
+    "Interact with the square switch with red bar directly",
+    "Press the square switch with red bar using the right arm.",
+    "Locate and press the red bar switch",
+    "Engage the red bar switch using the right arm",
+    "Deploy the right arm to press the gray switch with red toggle",
+    "Toggle the gray switch with red toggle with the right arm.",
+    "Engage with the gray switch with red toggle manually",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Engage the control switch with red lever with a press.",
+    "Move to the control switch with red lever and click it.",
+    "Activate the switch with thin red toggle with the right arm.",
+    "Set the switch at the toggle switch light gray base",
+    "Use the right arm to interact with the switch with thin red toggle",
+    "Activate the red bar switch directly",
+    "Click the gray switch with red toggle directly.",
+    "Interact with the electrical switch with protruding toggle.",
+    "Operate the switch with thin red toggle with the right arm",
+    "Initiate the red bar switch by clicking",
+    "Approach and tap the toggle switch light gray base via the right arm",
+    "Activate the the switch for electrical control using the right arm",
+    "Trigger the light gray square switch without referencing the right arm",
+    "Click the gray switch with red toggle to activate it",
+    "Directly interact with the electrical switch with protruding toggle",
+    "Use the right arm to engage the switch",
+    "Activate the compact switch with flat base by pressing it",
+    "Set the right arm to press the control switch with red lever",
+    "Tap the switch to engage it",
+    "Click the compact switch with flat base using automated tools",
+    "Press the gray switch with red toggle using robotic control",
+    "Activate the gray switch with red toggle via the right arm",
+    "Press the red bar switch to activate.",
+    "Deploy the right arm to operate the compact switch with flat base",
+    "Press the electrical switch with protruding toggle directly",
+    "Push the red bar switch via the right arm.",
+    "Engage the switch for electrical control using the right arm.",
+    "Press the red bar switch via automation",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Trigger the square switch with red bar with precision",
+    "Activate the gray switch with red toggle with robotic precision",
+    "Direct the right arm to operate the switch with thin red toggle",
+    "Click on the square switch with red bar precisely",
+    "Engage the right arm to press the toggle switch light gray base",
+    "Operate the right arm to engage the red bar switch",
+    "Use the right arm for switching the toggle switch light gray base",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Command the right arm to engage the square switch with red bar",
+    "Press the switch with the right arm",
+    "Locate and press the red bar switch",
+    "Press the plastic gray body switch carefully with the right arm",
+    "Switch the switch with thin red toggle to its active state",
+    "Interact with the light gray square switch directly",
+    "Press the switch using the right arm.",
+    "Locate and press the control switch with red lever",
+    "Engage the plastic gray body switch using the right arm",
+    "Deploy the right arm to press the plastic gray body switch",
+    "Toggle the switch with thin red toggle with the right arm.",
+    "Engage with the switch with thin red toggle manually",
+    "Trigger the square switch with red bar using the right arm",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Move to the switch with thin red toggle and click it.",
+    "Activate the toggle switch light gray base with the right arm.",
+    "Set the switch at the switch for electrical control",
+    "Use the right arm to interact with the red bar switch",
+    "Activate the plastic gray body switch directly",
+    "Click the switch with thin red toggle directly.",
+    "Interact with the gray switch with red toggle.",
+    "Operate the light gray square switch with the right arm",
+    "Initiate the square switch with red bar by clicking",
+    "Approach and tap the switch via the right arm",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Trigger the gray switch with red toggle without referencing the right arm",
+    "Click the compact switch with flat base to activate it",
+    "Directly interact with the compact switch with flat base",
+    "Use the right arm to engage the electrical switch with protruding toggle",
+    "Activate the square switch with red bar by pressing it",
+    "Set the right arm to press the control switch with red lever",
+    "Tap the plastic gray body switch to engage it",
+    "Click the switch using automated tools",
+    "Press the switch for electrical control using robotic control"
+  ],
+  "unseen": [
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch using the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch using the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch using the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch using the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch using the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch using the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode2.json b/turn_switch/piper_randomized_500/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..da04dae498d9e3fe17e59db1edc09c1f5bf4ed6f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch with thin red toggle carefully with the right arm",
+    "Engage the switch for electrical control using the robotic arm",
+    "Engage the light gray square switch using the right arm.",
+    "Press the light gray square switch directly",
+    "Activate the electrical switch with protruding toggle with the right arm.",
+    "Use the right arm to engage the plastic gray body switch",
+    "Trigger the light gray square switch without referencing the right arm",
+    "Engage the plastic gray body switch using the right arm",
+    "Click the red bar switch using automated tools",
+    "Activate the control switch with red lever with robotic precision",
+    "Direct the right arm to operate the gray switch with red toggle",
+    "Engage the switch for electrical control with a press.",
+    "Initiate the red bar switch by clicking",
+    "Click the light gray square switch with robotic precision",
+    "Use the right arm for switching the switch",
+    "Engage with the gray switch with red toggle manually",
+    "Locate and press the control switch with red lever",
+    "Switch the toggle switch light gray base to its active state",
+    "Activate the light gray square switch directly",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Interact with the red bar switch.",
+    "Trigger the square switch with red bar using the right arm",
+    "Click the control switch with red lever to activate it",
+    "Directly interact with the light gray square switch",
+    "Trigger the red bar switch with precision",
+    "Activate the switch via the right arm",
+    "Push the light gray square switch via the right arm.",
+    "Press the switch for electrical control to activate.",
+    "Click the switch for electrical control directly.",
+    "Operate the light gray square switch with the right arm",
+    "Press the control switch with red lever using robotic control",
+    "Tap the control switch with red lever to engage it",
+    "Set the switch at the light gray square switch",
+    "Press the light gray square switch via automation",
+    "Move to the light gray square switch and click it.",
+    "Interact with the switch for electrical control directly",
+    "Activate the toggle switch light gray base by pressing it",
+    "Press the switch with thin red toggle using the right arm.",
+    "Click on the square switch with red bar precisely",
+    "Deploy the right arm to operate the control switch with red lever",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Approach and tap the plastic gray body switch via the right arm",
+    "Use the right arm to interact with the switch",
+    "Engage the right arm to press the gray switch with red toggle",
+    "Command the right arm to engage the switch with thin red toggle",
+    "Operate the right arm to engage the plastic gray body switch",
+    "Set the right arm to press the red bar switch",
+    "Press the control switch with red lever with the right arm",
+    "Toggle the toggle switch light gray base with the right arm.",
+    "Locate and press the control switch with red lever",
+    "Press the square switch with red bar carefully with the right arm",
+    "Engage the light gray square switch using the robotic arm",
+    "Engage the toggle switch light gray base using the right arm.",
+    "Press the compact switch with flat base directly",
+    "Activate the plastic gray body switch with the right arm.",
+    "Use the right arm to engage the red bar switch",
+    "Trigger the compact switch with flat base without referencing the right arm",
+    "Engage the control switch with red lever using the right arm",
+    "Click the red bar switch using automated tools",
+    "Activate the switch with thin red toggle with robotic precision",
+    "Direct the right arm to operate the gray switch with red toggle",
+    "Engage the gray switch with red toggle with a press.",
+    "Initiate the compact switch with flat base by clicking",
+    "Click the light gray square switch with robotic precision",
+    "Use the right arm for switching the red bar switch",
+    "Engage with the light gray square switch manually",
+    "Locate and press the control switch with red lever",
+    "Switch the switch for electrical control to its active state",
+    "Activate the toggle switch light gray base directly",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Interact with the compact switch with flat base.",
+    "Trigger the control switch with red lever using the right arm",
+    "Click the gray switch with red toggle to activate it",
+    "Directly interact with the square switch with red bar",
+    "Trigger the switch for electrical control with precision",
+    "Activate the plastic gray body switch via the right arm",
+    "Push the gray switch with red toggle via the right arm.",
+    "Press the switch with thin red toggle to activate.",
+    "Click the switch directly.",
+    "Operate the red bar switch with the right arm",
+    "Press the switch with thin red toggle using robotic control",
+    "Tap the square switch with red bar to engage it",
+    "Set the switch at the light gray square switch",
+    "Press the toggle switch light gray base via automation",
+    "Move to the switch and click it.",
+    "Interact with the toggle switch light gray base directly",
+    "Activate the toggle switch light gray base by pressing it",
+    "Press the plastic gray body switch using the right arm.",
+    "Click on the switch precisely",
+    "Deploy the right arm to operate the electrical switch with protruding toggle",
+    "Deploy the right arm to press the control switch with red lever",
+    "Approach and tap the switch via the right arm",
+    "Use the right arm to interact with the square switch with red bar",
+    "Engage the right arm to press the toggle switch light gray base",
+    "Command the right arm to engage the control switch with red lever",
+    "Operate the right arm to engage the control switch with red lever",
+    "Set the right arm to press the red bar switch",
+    "Press the compact switch with flat base with the right arm",
+    "Toggle the switch with thin red toggle with the right arm.",
+    "Locate and press the light gray square switch"
+  ],
+  "unseen": [
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode202.json b/turn_switch/piper_randomized_500/instructions/episode202.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ad8330d8c0706cb416abe3619b1bff703f2507
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode202.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the matte beige switch with flat top.",
+    "Operate the right arm to engage the beige switch with smooth finish",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Move to the small trapezoid switch and click it.",
+    "Press the toggle switch with brown rectangle button with the right arm",
+    "Deploy the right arm to operate the switch with brown button",
+    "Click the switch with a smooth top using automated tools",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Tap the tiny matte beige toggle switch to engage it",
+    "Press the hand-sized light beige switch carefully with the right arm",
+    "Click the switch with rectangular dark button to activate it",
+    "Toggle the toggle switch with brown rectangle button with the right arm.",
+    "Activate the switch with brown button via the right arm",
+    "Use the right arm for switching the beige switch with smooth finish",
+    "Engage the switch with a smooth top using the right arm.",
+    "Trigger the switch with a smooth top without referencing the right arm",
+    "Press the light plastic switch via automation",
+    "Engage the right arm to press the beige switch",
+    "Activate the switch with a smooth top with the right arm.",
+    "Push the hand-sized light beige switch via the right arm.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Press the tiny matte beige toggle switch using the right arm.",
+    "Trigger the matte beige switch with flat top using the right arm",
+    "Operate the beige switch with smooth finish with the right arm",
+    "Set the right arm to press the beige switch with smooth finish",
+    "Deploy the right arm to press the matte beige switch with flat top",
+    "Locate and press the beige switch with smooth finish",
+    "Approach and tap the switch with a smooth top via the right arm",
+    "Engage the switch with brown button using the right arm",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Activate the switch with a smooth top by pressing it",
+    "Click the tiny matte beige toggle switch directly.",
+    "Activate the tiny matte beige toggle switch directly",
+    "Interact with the beige switch with smooth finish directly",
+    "Directly interact with the switch with rectangular dark button",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Engage the light-colored trapezoid-shaped plastic switch with a press.",
+    "Locate and press the hand-sized light beige switch",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Activate the the switch with brown button using the right arm",
+    "Command the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Switch the hand-sized light beige switch to its active state",
+    "Use the right arm to interact with the beige switch with smooth finish",
+    "Direct the right arm to operate the switch with brown button",
+    "Set the switch at the switch with brown button",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Click on the beige switch precisely",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Press the hand-sized light beige switch using robotic control",
+    "Interact with the hand-sized light beige switch.",
+    "Operate the right arm to engage the beige switch",
+    "Activate the switch with brown button with robotic precision",
+    "Move to the switch with a smooth top and click it.",
+    "Press the light plastic switch with the right arm",
+    "Deploy the right arm to operate the switch with rectangular dark button",
+    "Click the beige switch with smooth finish using automated tools",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Tap the hand-sized light beige switch to engage it",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the right arm",
+    "Click the tiny matte beige toggle switch to activate it",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Activate the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Use the right arm for switching the small trapezoid switch",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Trigger the switch with a smooth top without referencing the right arm",
+    "Press the switch with rectangular dark button via automation",
+    "Engage the right arm to press the switch with rectangular dark button",
+    "Activate the switch with brown button with the right arm.",
+    "Push the toggle switch with brown rectangle button via the right arm.",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Press the matte beige switch with flat top using the right arm.",
+    "Trigger the small trapezoid switch using the right arm",
+    "Operate the toggle switch with brown rectangle button with the right arm",
+    "Set the right arm to press the beige switch with smooth finish",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Locate and press the beige switch with smooth finish",
+    "Approach and tap the small trapezoid switch via the right arm",
+    "Engage the matte beige switch with flat top using the right arm",
+    "Click the beige switch with robotic precision",
+    "Use the right arm to engage the switch with rectangular dark button",
+    "Activate the light-colored trapezoid-shaped plastic switch by pressing it",
+    "Click the small trapezoid switch directly.",
+    "Activate the toggle switch with brown rectangle button directly",
+    "Interact with the matte beige switch with flat top directly",
+    "Directly interact with the hand-sized light beige switch",
+    "Press the hand-sized light beige switch to activate.",
+    "Engage the small trapezoid switch with a press.",
+    "Locate and press the beige switch",
+    "Press the light plastic switch directly",
+    "Activate the the toggle switch with brown rectangle button using the right arm",
+    "Command the right arm to engage the beige switch",
+    "Switch the hand-sized light beige switch to its active state",
+    "Use the right arm to interact with the light-colored trapezoid-shaped plastic switch",
+    "Direct the right arm to operate the beige switch with smooth finish",
+    "Set the switch at the beige switch with smooth finish",
+    "Trigger the tiny matte beige toggle switch with precision",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Engage with the switch with a smooth top manually",
+    "Press the beige switch using robotic control"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the beige switch with darker brown top using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode203.json b/turn_switch/piper_randomized_500/instructions/episode203.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09f5597c146198a0da6168e66b5ebe5d940f9af
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode203.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the small light tan switch without referencing the right arm",
+    "Press the small light tan switch via automation",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Move to the plastic switch with angled edges and click it.",
+    "Deploy the right arm to operate the flat switch",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Press the flat switch directly",
+    "Activate the plastic switch with angled edges with the right arm.",
+    "Use the right arm to engage the flat switch",
+    "Set the switch at the trapezoid-shaped switch smooth surface",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Press the light tan rectangular switch smooth finish using the right arm.",
+    "Initiate the flat switch by clicking",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Click on the angled switch light tan color precisely",
+    "Tap the switch with darker rectangle to engage it",
+    "Locate and press the rectangular switch with slanted sides",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Activate the smooth tan switch with textured sides directly",
+    "Engage the tan switch with a press.",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Interact with the angled switch light tan color directly",
+    "Activate the small light tan switch by pressing it",
+    "Press the trapezoid-shaped switch smooth surface carefully with the right arm",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Engage the angled switch light tan color using the right arm.",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Command the right arm to engage the plastic switch with angled edges",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Press the light tan rectangular switch smooth finish with the right arm",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Activate the the switch with darker rectangle using the right arm",
+    "Engage the light tan rectangular switch smooth finish using the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Trigger the rectangular switch with slanted sides using the right arm",
+    "Interact with the flat switch.",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Engage the right arm to press the angled switch light tan color",
+    "Activate the tan switch via the right arm",
+    "Use the right arm to interact with the tan switch",
+    "Approach and tap the trapezoid-shaped switch smooth surface via the right arm",
+    "Click the plastic switch with angled edges to activate it",
+    "Activate the flat switch with robotic precision",
+    "Trigger the small light tan switch without referencing the right arm",
+    "Press the tan switch via automation",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Click the plastic switch with angled edges with robotic precision",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Deploy the right arm to operate the tan switch",
+    "Operate the small light tan switch with the right arm",
+    "Press the plastic switch with angled edges to activate.",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Press the switch with darker rectangle directly",
+    "Activate the trapezoid-shaped switch smooth surface with the right arm.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Set the switch at the smooth tan switch with textured sides",
+    "Deploy the right arm to press the trapezoid-shaped switch smooth surface",
+    "Press the switch with darker rectangle using the right arm.",
+    "Initiate the angled switch light tan color by clicking",
+    "Operate the right arm to engage the flat switch",
+    "Click on the trapezoid-shaped switch smooth surface precisely",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Locate and press the angled switch light tan color",
+    "Set the right arm to press the rectangular switch with slanted sides",
+    "Engage with the plastic switch with angled edges manually",
+    "Activate the angled switch light tan color directly",
+    "Engage the plastic switch with angled edges with a press.",
+    "Switch the plastic switch with angled edges to its active state",
+    "Locate and press the small light tan switch",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Press the trapezoid-shaped switch smooth surface carefully with the right arm",
+    "Use the right arm for switching the light tan rectangular switch smooth finish",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Engage the angled switch light tan color using the right arm.",
+    "Directly interact with the flat switch",
+    "Command the right arm to engage the hand-sized switch tan smooth finish",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Toggle the small light tan switch with the right arm.",
+    "Activate the the switch with darker rectangle using the right arm",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Trigger the switch with darker rectangle with precision",
+    "Trigger the flat switch using the right arm",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Click the plastic switch with angled edges directly.",
+    "Engage the right arm to press the switch with darker rectangle",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Approach and tap the flat switch via the right arm",
+    "Click the angled switch light tan color to activate it",
+    "Activate the small light tan switch with robotic precision"
+  ],
+  "unseen": [
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode204.json b/turn_switch/piper_randomized_500/instructions/episode204.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e58beec7ce76881f04529f49b15c2ddabf748ca
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode204.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the plastic switch with matte buttons using the robotic arm",
+    "Operate the left arm to engage the switch with trapezoidal base",
+    "Trigger the gray base with black buttons with precision",
+    "Deploy the left arm to press the gray smooth surface switch",
+    "Press the switch with trapezoidal base using the left arm.",
+    "Activate the the electric toggle switch using the left arm",
+    "Click the gray smooth surface switch to activate it",
+    "Use the left arm to interact with the trapezoidal base switch",
+    "Trigger the smooth gray switch using the left arm",
+    "Engage the gray base with black buttons using the left arm.",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Push the trapezoidal base switch via the left arm.",
+    "Command the left arm to engage the plastic switch with matte buttons",
+    "Press the medium switch with trapezoidal base with the left arm",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Move to the electric toggle switch and click it.",
+    "Activate the medium switch with trapezoidal base directly",
+    "Press the gray base with black buttons directly",
+    "Click the gray switch with black buttons using automated tools",
+    "Click the smooth gray switch with robotic precision",
+    "Tap the electric toggle switch to engage it",
+    "Activate the electric toggle switch via the left arm",
+    "Engage the smooth gray switch with a press.",
+    "Press the switch with trapezoidal base via automation",
+    "Interact with the trapezoidal base switch directly",
+    "Locate and press the two-button gray switch",
+    "Press the plastic switch with matte buttons to activate.",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Activate the smooth gray switch with the left arm.",
+    "Interact with the gray switch with black buttons.",
+    "Set the switch at the plastic switch with matte buttons",
+    "Directly interact with the gray base with black buttons",
+    "Locate and press the plastic switch with matte buttons",
+    "Operate the electric toggle switch with the left arm",
+    "Use the left arm to engage the switch with trapezoidal base",
+    "Press the trapezoidal base switch using robotic control",
+    "Activate the electric toggle switch with robotic precision",
+    "Initiate the trapezoidal base switch by clicking",
+    "Deploy the left arm to operate the gray base with black buttons",
+    "Engage the left arm to press the smooth gray switch",
+    "Press the two-button gray switch carefully with the left arm",
+    "Toggle the gray plastic switch with the left arm.",
+    "Engage the electric toggle switch using the left arm",
+    "Click on the medium switch with trapezoidal base precisely",
+    "Direct the left arm to operate the gray plastic switch",
+    "Approach and tap the handheld switch via the left arm",
+    "Click the gray switch with black buttons directly.",
+    "Set the left arm to press the switch with trapezoidal base",
+    "Switch the medium switch with trapezoidal base to its active state",
+    "Activate the electric toggle switch by pressing it",
+    "Engage the electric toggle switch using the robotic arm",
+    "Operate the left arm to engage the trapezoidal base switch",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Deploy the left arm to press the two-button gray switch",
+    "Press the electric toggle switch using the left arm.",
+    "Activate the the plastic switch with matte buttons using the left arm",
+    "Click the gray plastic switch to activate it",
+    "Use the left arm to interact with the gray base with black buttons",
+    "Trigger the smooth gray switch using the left arm",
+    "Engage the gray smooth surface switch using the left arm.",
+    "Use the left arm for switching the gray base with black buttons",
+    "Push the electric toggle switch via the left arm.",
+    "Command the left arm to engage the electric toggle switch",
+    "Press the gray plastic switch with the left arm",
+    "Engage with the smooth gray switch manually",
+    "Move to the smooth gray switch and click it.",
+    "Activate the gray smooth surface switch directly",
+    "Press the gray plastic switch directly",
+    "Click the two-button gray switch using automated tools",
+    "Click the gray smooth surface switch with robotic precision",
+    "Tap the gray switch with black buttons to engage it",
+    "Activate the medium switch with trapezoidal base via the left arm",
+    "Engage the gray plastic switch with a press.",
+    "Press the electric toggle switch via automation",
+    "Interact with the gray base with black buttons directly",
+    "Locate and press the gray switch with black buttons",
+    "Press the switch with trapezoidal base to activate.",
+    "Trigger the gray switch with black buttons without referencing the left arm",
+    "Activate the trapezoidal base switch with the left arm.",
+    "Interact with the handheld switch.",
+    "Set the switch at the two-button gray switch",
+    "Directly interact with the gray switch with black buttons",
+    "Locate and press the gray switch with black buttons",
+    "Operate the smooth gray switch with the left arm",
+    "Use the left arm to engage the plastic switch with matte buttons",
+    "Press the gray base with black buttons using robotic control",
+    "Activate the gray smooth surface switch with robotic precision",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Deploy the left arm to operate the gray plastic switch",
+    "Engage the left arm to press the trapezoidal base switch",
+    "Press the switch with trapezoidal base carefully with the left arm",
+    "Toggle the trapezoidal base switch with the left arm.",
+    "Engage the medium switch with trapezoidal base using the left arm",
+    "Click on the smooth gray switch precisely",
+    "Direct the left arm to operate the switch with trapezoidal base",
+    "Approach and tap the gray switch with black buttons via the left arm",
+    "Click the gray base with black buttons directly.",
+    "Set the left arm to press the handheld switch",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Activate the smooth gray switch by pressing it"
+  ],
+  "unseen": [
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode205.json b/turn_switch/piper_randomized_500/instructions/episode205.json
new file mode 100644
index 0000000000000000000000000000000000000000..724748f502999d3d6fb73cf14081fddc8afac62d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode205.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the small light tan switch and click it.",
+    "Interact with the trapezoid-shaped switch smooth surface directly",
+    "Toggle the smooth tan switch with textured sides with the left arm.",
+    "Use the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm",
+    "Engage the angled switch light tan color with a press.",
+    "Engage the rectangular switch with slanted sides using the left arm",
+    "Operate the trapezoid-shaped switch smooth surface with the left arm",
+    "Set the left arm to press the light tan rectangular switch smooth finish",
+    "Approach and tap the plastic switch with angled edges via the left arm",
+    "Click the hand-sized switch tan smooth finish with robotic precision",
+    "Press the flat switch via automation",
+    "Locate and press the rectangular switch with slanted sides",
+    "Operate the left arm to engage the switch trapezoid shape brown marking",
+    "Set the switch at the small light tan switch",
+    "Locate and press the plastic switch with angled edges",
+    "Trigger the small light tan switch with precision",
+    "Activate the smooth tan switch with textured sides by pressing it",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Engage with the tan switch manually",
+    "Switch the rectangular switch with slanted sides to its active state",
+    "Click the switch with darker rectangle to activate it",
+    "Engage the angled switch light tan color using the left arm.",
+    "Interact with the light tan rectangular switch smooth finish.",
+    "Press the trapezoid-shaped switch smooth surface carefully with the left arm",
+    "Activate the rectangular switch with slanted sides directly",
+    "Push the light tan rectangular switch smooth finish via the left arm.",
+    "Trigger the small light tan switch using the left arm",
+    "Use the left arm for switching the angled switch light tan color",
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Press the switch with darker rectangle using robotic control",
+    "Direct the left arm to operate the rectangular switch with slanted sides",
+    "Press the tan switch with the left arm",
+    "Click the tan switch directly.",
+    "Press the flat switch directly",
+    "Activate the hand-sized switch tan smooth finish with the left arm.",
+    "Deploy the left arm to press the flat switch",
+    "Initiate the tan switch by clicking",
+    "Activate the the hand-sized switch tan smooth finish using the left arm",
+    "Command the left arm to engage the hand-sized switch tan smooth finish",
+    "Click on the switch with darker rectangle precisely",
+    "Engage the left arm to press the hand-sized switch tan smooth finish",
+    "Activate the smooth tan switch with textured sides via the left arm",
+    "Deploy the left arm to operate the angled switch light tan color",
+    "Use the left arm to interact with the flat switch",
+    "Click the angled switch light tan color using automated tools",
+    "Press the hand-sized switch tan smooth finish using the left arm.",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Toggle the tan switch with the left arm.",
+    "Use the left arm to engage the small light tan switch",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Trigger the flat switch without referencing the left arm",
+    "Engage the flat switch with a press.",
+    "Engage the trapezoid-shaped switch smooth surface using the left arm",
+    "Operate the small light tan switch with the left arm",
+    "Set the left arm to press the small light tan switch",
+    "Approach and tap the light tan rectangular switch smooth finish via the left arm",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Press the tan switch via automation",
+    "Locate and press the smooth tan switch with textured sides",
+    "Operate the left arm to engage the switch trapezoid shape brown marking",
+    "Set the switch at the tan switch",
+    "Locate and press the flat switch",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Activate the tan switch by pressing it",
+    "Press the flat switch to activate.",
+    "Engage with the angled switch light tan color manually",
+    "Switch the small light tan switch to its active state",
+    "Click the switch with darker rectangle to activate it",
+    "Engage the smooth tan switch with textured sides using the left arm.",
+    "Interact with the angled switch light tan color.",
+    "Press the flat switch carefully with the left arm",
+    "Activate the flat switch directly",
+    "Push the hand-sized switch tan smooth finish via the left arm.",
+    "Trigger the trapezoid-shaped switch smooth surface using the left arm",
+    "Use the left arm for switching the rectangular switch with slanted sides",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Press the light tan rectangular switch smooth finish using robotic control",
+    "Direct the left arm to operate the plastic switch with angled edges",
+    "Press the smooth tan switch with textured sides with the left arm",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Press the plastic switch with angled edges directly",
+    "Activate the switch trapezoid shape brown marking with the left arm.",
+    "Deploy the left arm to press the angled switch light tan color",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Activate the the light tan rectangular switch smooth finish using the left arm",
+    "Command the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Click on the small light tan switch precisely",
+    "Engage the left arm to press the flat switch",
+    "Activate the tan switch via the left arm",
+    "Deploy the left arm to operate the switch trapezoid shape brown marking",
+    "Use the left arm to interact with the flat switch",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Press the small light tan switch using the left arm.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm"
+  ],
+  "unseen": [
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Press the lightweight plastic switch angled edges using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode207.json b/turn_switch/piper_randomized_500/instructions/episode207.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d7d4d6f43ebe2323e873c994903fba5ab0b1223
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode207.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the small switch via automation",
+    "Use the right arm for switching the black base switch with red toggle",
+    "Initiate the red and black switch by clicking",
+    "Press the black switch with metallic connectors directly",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Set the right arm to press the hand-sized switch with connector prongs",
+    "Trigger the hand-sized switch with connector prongs without referencing the right arm",
+    "Tap the black base switch with red toggle to engage it",
+    "Click on the small switch precisely",
+    "Activate the switch with curved red toggle with robotic precision",
+    "Set the switch at the black switch with metallic connectors",
+    "Press the rectangular switch with curved lever to activate.",
+    "Locate and press the small switch",
+    "Trigger the black base switch with red toggle using the right arm",
+    "Activate the switch with curved red toggle with the right arm.",
+    "Directly interact with the hand-sized switch with connector prongs",
+    "Engage with the black switch with metallic connectors manually",
+    "Activate the the black switch using the right arm",
+    "Approach and tap the small switch via the right arm",
+    "Toggle the small switch with the right arm.",
+    "Direct the right arm to operate the black base switch with red toggle",
+    "Click the rectangular switch with curved lever with robotic precision",
+    "Deploy the right arm to press the rectangular switch with curved lever",
+    "Engage the right arm to press the black base switch with red toggle",
+    "Interact with the black switch with metallic connectors.",
+    "Click the plastic switch with metal terminals directly.",
+    "Switch the switch with curved red toggle to its active state",
+    "Move to the compact switch with toggle on top and click it.",
+    "Push the switch with curved red toggle via the right arm.",
+    "Click the black base switch with red toggle using automated tools",
+    "Command the right arm to engage the black switch",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Activate the red and black switch by pressing it",
+    "Use the right arm to interact with the red and black switch",
+    "Deploy the right arm to operate the red-top black switch",
+    "Trigger the small switch with precision",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Operate the red-top black switch with the right arm",
+    "Interact with the rectangular black plastic switch directly",
+    "Use the right arm to engage the black switch",
+    "Locate and press the compact switch with toggle on top",
+    "Press the red-top black switch carefully with the right arm",
+    "Press the red and black switch using the right arm.",
+    "Engage the black base switch with red toggle using the right arm.",
+    "Operate the right arm to engage the rectangular switch with curved lever",
+    "Engage the red-top black switch using the right arm",
+    "Press the small switch with the right arm",
+    "Engage the black base switch with red toggle using the robotic arm",
+    "Activate the rectangular switch with curved lever directly",
+    "Engage the rectangular black plastic switch with a press.",
+    "Press the black base switch with red toggle via automation",
+    "Use the right arm for switching the rectangular switch with curved lever",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Press the compact switch with toggle on top directly",
+    "Click the small switch to activate it",
+    "Set the right arm to press the switch with curved red toggle",
+    "Trigger the black base switch with red toggle without referencing the right arm",
+    "Tap the black switch with metallic connectors to engage it",
+    "Click on the compact switch with toggle on top precisely",
+    "Activate the hand-sized switch with connector prongs with robotic precision",
+    "Set the switch at the red-top black switch",
+    "Press the red and black switch to activate.",
+    "Locate and press the red and black switch",
+    "Trigger the small switch using the right arm",
+    "Activate the switch with curved red toggle with the right arm.",
+    "Directly interact with the black switch with metallic connectors",
+    "Engage with the rectangular black plastic switch manually",
+    "Activate the the black switch with metallic connectors using the right arm",
+    "Approach and tap the red-top black switch via the right arm",
+    "Toggle the switch with curved red toggle with the right arm.",
+    "Direct the right arm to operate the red and black switch",
+    "Click the switch with curved red toggle with robotic precision",
+    "Deploy the right arm to press the black base switch with red toggle",
+    "Engage the right arm to press the hand-sized switch with connector prongs",
+    "Interact with the red and black switch.",
+    "Click the black base switch with red toggle directly.",
+    "Switch the black switch to its active state",
+    "Move to the rectangular black plastic switch and click it.",
+    "Push the compact switch with toggle on top via the right arm.",
+    "Click the black switch with metallic connectors using automated tools",
+    "Command the right arm to engage the red and black switch",
+    "Press the switch with curved red toggle using robotic control",
+    "Activate the black switch by pressing it",
+    "Use the right arm to interact with the rectangular black plastic switch",
+    "Deploy the right arm to operate the small switch",
+    "Trigger the rectangular black plastic switch with precision",
+    "Activate the black switch via the right arm",
+    "Operate the switch with curved red toggle with the right arm",
+    "Interact with the switch with curved red toggle directly",
+    "Use the right arm to engage the red-top black switch",
+    "Locate and press the red-top black switch",
+    "Press the rectangular black plastic switch carefully with the right arm",
+    "Press the rectangular black plastic switch using the right arm.",
+    "Engage the hand-sized switch with connector prongs using the right arm.",
+    "Operate the right arm to engage the black switch with metallic connectors",
+    "Engage the black switch using the right arm",
+    "Press the small switch with the right arm",
+    "Engage the black switch with metallic connectors using the robotic arm",
+    "Activate the rectangular switch with curved lever directly",
+    "Engage the compact switch with toggle on top with a press."
+  ],
+  "unseen": [
+    "Click the simple toggle switch with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode215.json b/turn_switch/piper_randomized_500/instructions/episode215.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7bc11d4fead0ba377fc8275e26707268941414b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode215.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the compact rectangular black switch",
+    "Press the switch with slanted sides via automation",
+    "Command the left arm to engage the black switch",
+    "Engage with the medium-sized black rectangular switch manually",
+    "Tap the switch with slanted sides to engage it",
+    "Switch the black switch with slim profile to its active state",
+    "Press the black switch to activate.",
+    "Use the left arm for switching the palm-sized black switch",
+    "Operate the left arm to engage the sleek black rectangular switch",
+    "Engage the black rectangular control switch using the left arm",
+    "Engage the left arm to press the rectangular switch with smooth surface",
+    "Engage the black switch with slim profile using the left arm.",
+    "Trigger the palm-sized black switch using the left arm",
+    "Interact with the rectangular switch with smooth surface.",
+    "Activate the switch with slanted sides with the left arm.",
+    "Operate the slanted-edge plastic black switch with the left arm",
+    "Activate the the black switch with slim profile using the left arm",
+    "Directly interact with the black switch",
+    "Click the black switch to activate it",
+    "Interact with the black switch with slim profile directly",
+    "Toggle the black switch with slim profile with the left arm.",
+    "Push the sleek black rectangular switch via the left arm.",
+    "Press the slanted-edge plastic black switch using the left arm.",
+    "Click the switch with slanted sides with robotic precision",
+    "Press the control switch carefully with the left arm",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Deploy the left arm to press the palm-sized black switch",
+    "Engage the control switch using the robotic arm",
+    "Press the black rectangular control switch with the left arm",
+    "Use the left arm to engage the black switch with slim profile",
+    "Deploy the left arm to operate the sleek black rectangular switch",
+    "Activate the black switch with matte coating with robotic precision",
+    "Press the rectangular switch with smooth surface directly",
+    "Activate the black switch with matte coating via the left arm",
+    "Activate the rectangular switch with smooth surface directly",
+    "Trigger the black switch with matte coating without referencing the left arm",
+    "Locate and press the switch with slanted sides",
+    "Trigger the control switch with precision",
+    "Click the black switch with slim profile directly.",
+    "Activate the black switch with matte coating by pressing it",
+    "Initiate the black switch by clicking",
+    "Set the left arm to press the compact rectangular black switch",
+    "Engage the palm-sized black switch with a press.",
+    "Move to the black switch and click it.",
+    "Approach and tap the control switch via the left arm",
+    "Use the left arm to interact with the rectangular switch with smooth surface",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Press the compact rectangular black switch using robotic control",
+    "Direct the left arm to operate the black switch with slim profile",
+    "Locate and press the palm-sized black switch",
+    "Set the switch at the rectangular switch with smooth surface",
+    "Press the medium-sized black rectangular switch via automation",
+    "Command the left arm to engage the switch with slanted sides",
+    "Engage with the palm-sized black switch manually",
+    "Tap the black switch with matte coating to engage it",
+    "Switch the black rectangular control switch to its active state",
+    "Press the black rectangular control switch to activate.",
+    "Use the left arm for switching the sleek black rectangular switch",
+    "Operate the left arm to engage the black switch with slim profile",
+    "Engage the black rectangular control switch using the left arm",
+    "Engage the left arm to press the switch with slanted sides",
+    "Engage the rectangular switch with smooth surface using the left arm.",
+    "Trigger the slanted-edge plastic black switch using the left arm",
+    "Interact with the black switch with slim profile.",
+    "Activate the control switch with the left arm.",
+    "Operate the palm-sized black switch with the left arm",
+    "Activate the the slanted-edge plastic black switch using the left arm",
+    "Directly interact with the palm-sized black switch",
+    "Click the black switch with slim profile to activate it",
+    "Interact with the black switch with slim profile directly",
+    "Toggle the black rectangular control switch with the left arm.",
+    "Push the medium-sized black rectangular switch via the left arm.",
+    "Press the palm-sized black switch using the left arm.",
+    "Click the switch with slanted sides with robotic precision",
+    "Press the black switch carefully with the left arm",
+    "Click on the control switch precisely",
+    "Deploy the left arm to press the medium-sized black rectangular switch",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Press the palm-sized black switch with the left arm",
+    "Use the left arm to engage the medium-sized black rectangular switch",
+    "Deploy the left arm to operate the black switch",
+    "Activate the medium-sized black rectangular switch with robotic precision",
+    "Press the slanted-edge plastic black switch directly",
+    "Activate the medium-sized black rectangular switch via the left arm",
+    "Activate the black switch directly",
+    "Trigger the sleek black rectangular switch without referencing the left arm",
+    "Locate and press the control switch",
+    "Trigger the control switch with precision",
+    "Click the palm-sized black switch directly.",
+    "Activate the black switch with slim profile by pressing it",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Set the left arm to press the slanted-edge plastic black switch",
+    "Engage the palm-sized black switch with a press.",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Approach and tap the compact rectangular black switch via the left arm",
+    "Use the left arm to interact with the black switch with slim profile",
+    "Click the black switch using automated tools",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Direct the left arm to operate the black switch with slim profile",
+    "Locate and press the slanted-edge plastic black switch"
+  ],
+  "unseen": [
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the smooth black switch.",
+    "Use the left arm to press the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the smooth black switch.",
+    "Use the left arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode216.json b/turn_switch/piper_randomized_500/instructions/episode216.json
new file mode 100644
index 0000000000000000000000000000000000000000..71de00c79f5170c5e2478f176cf0714b5da92f42
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode216.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the handheld switch",
+    "Switch the trapezoidal base switch to its active state",
+    "Locate and press the electric toggle switch",
+    "Use the right arm for switching the smooth gray switch",
+    "Directly interact with the plastic switch with matte buttons",
+    "Click on the electric toggle switch precisely",
+    "Click the two-button gray switch using automated tools",
+    "Click the gray plastic switch to activate it",
+    "Activate the gray switch with black buttons with the right arm.",
+    "Press the gray base with black buttons using robotic control",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Engage the electric toggle switch using the right arm.",
+    "Press the smooth gray switch using the right arm.",
+    "Operate the right arm to engage the handheld switch",
+    "Trigger the gray switch with black buttons with precision",
+    "Locate and press the trapezoidal base switch",
+    "Press the electric toggle switch via automation",
+    "Press the gray base with black buttons with the right arm",
+    "Activate the gray smooth surface switch directly",
+    "Press the gray switch with black buttons carefully with the right arm",
+    "Interact with the medium switch with trapezoidal base.",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Command the right arm to engage the gray base with black buttons",
+    "Interact with the smooth gray switch directly",
+    "Click the plastic switch with matte buttons with robotic precision",
+    "Push the two-button gray switch via the right arm.",
+    "Move to the switch with trapezoidal base and click it.",
+    "Deploy the right arm to press the plastic switch with matte buttons",
+    "Tap the gray plastic switch to engage it",
+    "Approach and tap the plastic switch with matte buttons via the right arm",
+    "Engage the medium switch with trapezoidal base using the right arm",
+    "Deploy the right arm to operate the gray base with black buttons",
+    "Engage with the gray switch with black buttons manually",
+    "Engage the right arm to press the switch with trapezoidal base",
+    "Use the right arm to interact with the gray smooth surface switch",
+    "Toggle the electric toggle switch with the right arm.",
+    "Engage the two-button gray switch using the robotic arm",
+    "Trigger the gray plastic switch using the right arm",
+    "Use the right arm to engage the electric toggle switch",
+    "Activate the the smooth gray switch using the right arm",
+    "Press the medium switch with trapezoidal base to activate.",
+    "Click the plastic switch with matte buttons directly.",
+    "Activate the smooth gray switch by pressing it",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Press the smooth gray switch directly",
+    "Trigger the gray switch with black buttons without referencing the right arm",
+    "Set the right arm to press the two-button gray switch",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Direct the right arm to operate the switch with trapezoidal base",
+    "Set the switch at the gray base with black buttons",
+    "Switch the gray plastic switch to its active state",
+    "Locate and press the gray switch with black buttons",
+    "Use the right arm for switching the gray plastic switch",
+    "Directly interact with the two-button gray switch",
+    "Click on the smooth gray switch precisely",
+    "Click the electric toggle switch using automated tools",
+    "Click the plastic switch with matte buttons to activate it",
+    "Activate the gray switch with black buttons with the right arm.",
+    "Press the electric toggle switch using robotic control",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Engage the gray switch with black buttons using the right arm.",
+    "Press the electric toggle switch using the right arm.",
+    "Operate the right arm to engage the switch with trapezoidal base",
+    "Trigger the gray base with black buttons with precision",
+    "Locate and press the gray smooth surface switch",
+    "Press the smooth gray switch via automation",
+    "Press the two-button gray switch with the right arm",
+    "Activate the smooth gray switch directly",
+    "Press the gray smooth surface switch carefully with the right arm",
+    "Interact with the gray base with black buttons.",
+    "Activate the electric toggle switch with robotic precision",
+    "Command the right arm to engage the gray plastic switch",
+    "Interact with the medium switch with trapezoidal base directly",
+    "Click the medium switch with trapezoidal base with robotic precision",
+    "Push the gray plastic switch via the right arm.",
+    "Move to the gray smooth surface switch and click it.",
+    "Deploy the right arm to press the gray plastic switch",
+    "Tap the trapezoidal base switch to engage it",
+    "Approach and tap the medium switch with trapezoidal base via the right arm",
+    "Engage the smooth gray switch using the right arm",
+    "Deploy the right arm to operate the gray base with black buttons",
+    "Engage with the electric toggle switch manually",
+    "Engage the right arm to press the switch with trapezoidal base",
+    "Use the right arm to interact with the gray smooth surface switch",
+    "Toggle the gray base with black buttons with the right arm.",
+    "Engage the smooth gray switch using the robotic arm",
+    "Trigger the medium switch with trapezoidal base using the right arm",
+    "Use the right arm to engage the handheld switch",
+    "Activate the the trapezoidal base switch using the right arm",
+    "Press the gray smooth surface switch to activate.",
+    "Click the switch with trapezoidal base directly.",
+    "Activate the gray plastic switch by pressing it",
+    "Initiate the gray base with black buttons by clicking",
+    "Press the trapezoidal base switch directly",
+    "Trigger the gray switch with black buttons without referencing the right arm",
+    "Set the right arm to press the plastic switch with matte buttons",
+    "Engage the gray plastic switch with a press.",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Direct the right arm to operate the two-button gray switch"
+  ],
+  "unseen": [
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch with the right arm.",
+    "Move and click the the gray switch",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the gray switch",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch with the right arm.",
+    "Move and click the the gray switch medium size",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the gray switch",
+    "Press the gray switch medium size using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode217.json b/turn_switch/piper_randomized_500/instructions/episode217.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d1347b6fe47afeea04422335a1dd2887a3151e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode217.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the gray smooth surface switch",
+    "Engage the plastic switch with matte buttons using the left arm",
+    "Move to the handheld switch and click it.",
+    "Click the gray smooth surface switch to activate it",
+    "Click the electric toggle switch directly.",
+    "Press the gray base with black buttons via automation",
+    "Press the smooth gray switch directly",
+    "Toggle the gray plastic switch with the left arm.",
+    "Press the two-button gray switch with the left arm",
+    "Direct the left arm to operate the handheld switch",
+    "Approach and tap the plastic switch with matte buttons via the left arm",
+    "Set the switch at the medium switch with trapezoidal base",
+    "Engage the two-button gray switch using the left arm.",
+    "Engage the medium switch with trapezoidal base with a press.",
+    "Click on the electric toggle switch precisely",
+    "Tap the gray switch with black buttons to engage it",
+    "Activate the gray smooth surface switch with robotic precision",
+    "Click the trapezoidal base switch with robotic precision",
+    "Trigger the gray smooth surface switch without referencing the left arm",
+    "Engage the left arm to press the gray switch with black buttons",
+    "Switch the gray base with black buttons to its active state",
+    "Activate the trapezoidal base switch directly",
+    "Use the left arm to engage the gray smooth surface switch",
+    "Trigger the two-button gray switch with precision",
+    "Locate and press the two-button gray switch",
+    "Press the switch with trapezoidal base using robotic control",
+    "Interact with the gray switch with black buttons directly",
+    "Locate and press the gray switch with black buttons",
+    "Engage with the gray switch with black buttons manually",
+    "Set the left arm to press the gray base with black buttons",
+    "Press the gray smooth surface switch to activate.",
+    "Initiate the smooth gray switch by clicking",
+    "Command the left arm to engage the trapezoidal base switch",
+    "Activate the trapezoidal base switch by pressing it",
+    "Click the two-button gray switch using automated tools",
+    "Activate the the switch with trapezoidal base using the left arm",
+    "Use the left arm to interact with the smooth gray switch",
+    "Deploy the left arm to operate the gray smooth surface switch",
+    "Activate the smooth gray switch with the left arm.",
+    "Activate the gray smooth surface switch via the left arm",
+    "Trigger the gray switch with black buttons using the left arm",
+    "Press the switch with trapezoidal base carefully with the left arm",
+    "Operate the left arm to engage the electric toggle switch",
+    "Interact with the two-button gray switch.",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Press the gray smooth surface switch using the left arm.",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Deploy the left arm to press the switch with trapezoidal base",
+    "Operate the medium switch with trapezoidal base with the left arm",
+    "Push the electric toggle switch via the left arm.",
+    "Directly interact with the smooth gray switch",
+    "Engage the gray plastic switch using the left arm",
+    "Move to the gray base with black buttons and click it.",
+    "Click the handheld switch to activate it",
+    "Click the two-button gray switch directly.",
+    "Press the gray plastic switch via automation",
+    "Press the gray switch with black buttons directly",
+    "Toggle the medium switch with trapezoidal base with the left arm.",
+    "Press the trapezoidal base switch with the left arm",
+    "Direct the left arm to operate the gray switch with black buttons",
+    "Approach and tap the two-button gray switch via the left arm",
+    "Set the switch at the switch with trapezoidal base",
+    "Engage the smooth gray switch using the left arm.",
+    "Engage the trapezoidal base switch with a press.",
+    "Click on the smooth gray switch precisely",
+    "Tap the gray switch with black buttons to engage it",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Click the electric toggle switch with robotic precision",
+    "Trigger the trapezoidal base switch without referencing the left arm",
+    "Engage the left arm to press the gray base with black buttons",
+    "Switch the switch with trapezoidal base to its active state",
+    "Activate the gray smooth surface switch directly",
+    "Use the left arm to engage the smooth gray switch",
+    "Trigger the smooth gray switch with precision",
+    "Locate and press the electric toggle switch",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Interact with the trapezoidal base switch directly",
+    "Locate and press the gray base with black buttons",
+    "Engage with the handheld switch manually",
+    "Set the left arm to press the gray switch with black buttons",
+    "Press the gray base with black buttons to activate.",
+    "Initiate the handheld switch by clicking",
+    "Command the left arm to engage the switch with trapezoidal base",
+    "Activate the medium switch with trapezoidal base by pressing it",
+    "Click the handheld switch using automated tools",
+    "Activate the the handheld switch using the left arm",
+    "Use the left arm to interact with the plastic switch with matte buttons",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Activate the handheld switch with the left arm.",
+    "Activate the medium switch with trapezoidal base via the left arm",
+    "Trigger the trapezoidal base switch using the left arm",
+    "Press the gray switch with black buttons carefully with the left arm",
+    "Operate the left arm to engage the plastic switch with matte buttons",
+    "Interact with the handheld switch.",
+    "Engage the smooth gray switch using the robotic arm",
+    "Press the gray plastic switch using the left arm.",
+    "Use the left arm for switching the two-button gray switch",
+    "Deploy the left arm to press the handheld switch",
+    "Operate the two-button gray switch with the left arm",
+    "Push the gray plastic switch via the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Move and click the the gray switch medium size"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode223.json b/turn_switch/piper_randomized_500/instructions/episode223.json
new file mode 100644
index 0000000000000000000000000000000000000000..4533644427cd905f2da22186a99319c2f102edd1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode223.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the palm-sized black switch",
+    "Activate the black switch with slim profile directly",
+    "Press the sleek black rectangular switch using the right arm.",
+    "Trigger the sleek black rectangular switch without referencing the right arm",
+    "Interact with the control switch.",
+    "Activate the rectangular switch with smooth surface with robotic precision",
+    "Activate the black rectangular control switch by pressing it",
+    "Directly interact with the switch with slanted sides",
+    "Command the right arm to engage the switch with slanted sides",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Toggle the compact rectangular black switch with the right arm.",
+    "Operate the sleek black rectangular switch with the right arm",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Activate the black rectangular control switch via the right arm",
+    "Use the right arm for switching the rectangular switch with smooth surface",
+    "Use the right arm to engage the black switch with slim profile",
+    "Locate and press the sleek black rectangular switch",
+    "Click on the sleek black rectangular switch precisely",
+    "Interact with the black switch with slim profile directly",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Press the black switch with matte coating using robotic control",
+    "Switch the switch with slanted sides to its active state",
+    "Use the right arm to interact with the switch with slanted sides",
+    "Operate the right arm to engage the sleek black rectangular switch",
+    "Click the slanted-edge plastic black switch with robotic precision",
+    "Initiate the black switch by clicking",
+    "Press the black rectangular control switch with the right arm",
+    "Press the sleek black rectangular switch via automation",
+    "Click the slanted-edge plastic black switch to activate it",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Engage the control switch with a press.",
+    "Approach and tap the black switch via the right arm",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Engage the right arm to press the black switch with slim profile",
+    "Direct the right arm to operate the black switch",
+    "Press the slanted-edge plastic black switch carefully with the right arm",
+    "Press the switch with slanted sides to activate.",
+    "Locate and press the control switch",
+    "Activate the black switch with the right arm.",
+    "Trigger the sleek black rectangular switch using the right arm",
+    "Move to the palm-sized black switch and click it.",
+    "Push the black rectangular control switch via the right arm.",
+    "Engage with the slanted-edge plastic black switch manually",
+    "Activate the the black rectangular control switch using the right arm",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Press the black rectangular control switch directly",
+    "Engage the black switch with matte coating using the right arm.",
+    "Click the sleek black rectangular switch directly.",
+    "Tap the rectangular switch with smooth surface to engage it",
+    "Engage the sleek black rectangular switch using the right arm",
+    "Deploy the right arm to operate the compact rectangular black switch",
+    "Activate the medium-sized black rectangular switch directly",
+    "Press the black switch with matte coating using the right arm.",
+    "Trigger the black rectangular control switch without referencing the right arm",
+    "Interact with the medium-sized black rectangular switch.",
+    "Activate the black switch with matte coating with robotic precision",
+    "Activate the black rectangular control switch by pressing it",
+    "Directly interact with the switch with slanted sides",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Click the control switch using automated tools",
+    "Toggle the black switch with slim profile with the right arm.",
+    "Operate the slanted-edge plastic black switch with the right arm",
+    "Set the right arm to press the black rectangular control switch",
+    "Activate the control switch via the right arm",
+    "Use the right arm for switching the medium-sized black rectangular switch",
+    "Use the right arm to engage the sleek black rectangular switch",
+    "Locate and press the black switch",
+    "Click on the switch with slanted sides precisely",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Engage the control switch using the robotic arm",
+    "Press the black rectangular control switch using robotic control",
+    "Switch the black switch to its active state",
+    "Use the right arm to interact with the black rectangular control switch",
+    "Operate the right arm to engage the medium-sized black rectangular switch",
+    "Click the black switch with robotic precision",
+    "Initiate the compact rectangular black switch by clicking",
+    "Press the black rectangular control switch with the right arm",
+    "Press the switch with slanted sides via automation",
+    "Click the black switch with slim profile to activate it",
+    "Set the switch at the black switch with matte coating",
+    "Engage the black switch with slim profile with a press.",
+    "Approach and tap the black switch with slim profile via the right arm",
+    "Trigger the control switch with precision",
+    "Engage the right arm to press the sleek black rectangular switch",
+    "Direct the right arm to operate the black switch",
+    "Press the palm-sized black switch carefully with the right arm",
+    "Press the palm-sized black switch to activate.",
+    "Locate and press the compact rectangular black switch",
+    "Activate the medium-sized black rectangular switch with the right arm.",
+    "Trigger the black switch with slim profile using the right arm",
+    "Move to the compact rectangular black switch and click it.",
+    "Push the palm-sized black switch via the right arm.",
+    "Engage with the black switch with slim profile manually",
+    "Activate the the black rectangular control switch using the right arm",
+    "Deploy the right arm to press the compact rectangular black switch",
+    "Press the black rectangular control switch directly",
+    "Engage the compact rectangular black switch using the right arm.",
+    "Click the control switch directly.",
+    "Tap the black switch to engage it",
+    "Engage the sleek black rectangular switch using the right arm"
+  ],
+  "unseen": [
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode225.json b/turn_switch/piper_randomized_500/instructions/episode225.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd53c6275db38c2decf0f7b20c26f63d3c7f6166
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode225.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the switch trapezoid shape brown marking using automated tools",
+    "Interact with the small light tan switch directly",
+    "Use the left arm to interact with the trapezoid-shaped switch smooth surface",
+    "Press the small light tan switch via automation",
+    "Locate and press the small light tan switch",
+    "Press the small light tan switch to activate.",
+    "Press the small light tan switch carefully with the left arm",
+    "Press the flat switch with the left arm",
+    "Trigger the plastic switch with angled edges without referencing the left arm",
+    "Deploy the left arm to operate the switch trapezoid shape brown marking",
+    "Approach and tap the flat switch via the left arm",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Use the left arm to engage the flat switch",
+    "Press the switch with darker rectangle using robotic control",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Activate the smooth tan switch with textured sides directly",
+    "Interact with the plastic switch with angled edges.",
+    "Operate the left arm to engage the small light tan switch",
+    "Direct the left arm to operate the flat switch",
+    "Activate the plastic switch with angled edges via the left arm",
+    "Push the smooth tan switch with textured sides via the left arm.",
+    "Deploy the left arm to press the flat switch",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Locate and press the smooth tan switch with textured sides",
+    "Move to the plastic switch with angled edges and click it.",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Press the switch with darker rectangle using the left arm.",
+    "Command the left arm to engage the tan switch",
+    "Click the angled switch light tan color to activate it",
+    "Click the flat switch with robotic precision",
+    "Engage the left arm to press the tan switch",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Switch the switch with darker rectangle to its active state",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Activate the light tan rectangular switch smooth finish by pressing it",
+    "Activate the the smooth tan switch with textured sides using the left arm",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Trigger the rectangular switch with slanted sides using the left arm",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Toggle the angled switch light tan color with the left arm.",
+    "Engage the tan switch with a press.",
+    "Activate the smooth tan switch with textured sides with the left arm.",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Engage the small light tan switch using the left arm.",
+    "Activate the angled switch light tan color with robotic precision",
+    "Set the left arm to press the hand-sized switch tan smooth finish",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Press the tan switch directly",
+    "Operate the small light tan switch with the left arm",
+    "Use the left arm for switching the flat switch",
+    "Click the switch with darker rectangle using automated tools",
+    "Interact with the small light tan switch directly",
+    "Use the left arm to interact with the switch trapezoid shape brown marking",
+    "Press the flat switch via automation",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Press the tan switch to activate.",
+    "Press the angled switch light tan color carefully with the left arm",
+    "Press the hand-sized switch tan smooth finish with the left arm",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm",
+    "Deploy the left arm to operate the small light tan switch",
+    "Approach and tap the hand-sized switch tan smooth finish via the left arm",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Use the left arm to engage the angled switch light tan color",
+    "Press the trapezoid-shaped switch smooth surface using robotic control",
+    "Trigger the switch with darker rectangle with precision",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Interact with the switch with darker rectangle.",
+    "Operate the left arm to engage the rectangular switch with slanted sides",
+    "Direct the left arm to operate the hand-sized switch tan smooth finish",
+    "Activate the switch trapezoid shape brown marking via the left arm",
+    "Push the smooth tan switch with textured sides via the left arm.",
+    "Deploy the left arm to press the small light tan switch",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Locate and press the small light tan switch",
+    "Move to the angled switch light tan color and click it.",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Press the flat switch using the left arm.",
+    "Command the left arm to engage the rectangular switch with slanted sides",
+    "Click the angled switch light tan color to activate it",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Engage the left arm to press the light tan rectangular switch smooth finish",
+    "Directly interact with the tan switch",
+    "Switch the flat switch to its active state",
+    "Engage the smooth tan switch with textured sides using the left arm",
+    "Activate the small light tan switch by pressing it",
+    "Activate the the light tan rectangular switch smooth finish using the left arm",
+    "Set the switch at the plastic switch with angled edges",
+    "Trigger the switch with darker rectangle using the left arm",
+    "Engage the small light tan switch using the robotic arm",
+    "Toggle the light tan rectangular switch smooth finish with the left arm.",
+    "Engage the tan switch with a press.",
+    "Activate the angled switch light tan color with the left arm.",
+    "Initiate the angled switch light tan color by clicking",
+    "Engage the rectangular switch with slanted sides using the left arm.",
+    "Activate the tan switch with robotic precision",
+    "Set the left arm to press the small light tan switch",
+    "Click the rectangular switch with slanted sides directly.",
+    "Press the switch trapezoid shape brown marking directly",
+    "Operate the switch with darker rectangle with the left arm",
+    "Use the left arm for switching the flat switch"
+  ],
+  "unseen": [
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Press the small flat switch tan top using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the small flat switch tan top using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode226.json b/turn_switch/piper_randomized_500/instructions/episode226.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5699a6ccd095164258dc335458622d2d719fc74
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode226.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the gray switch with black buttons using automated tools",
+    "Use the right arm to interact with the two-button gray switch",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Engage the smooth gray switch using the right arm.",
+    "Activate the gray base with black buttons with the right arm.",
+    "Locate and press the switch with trapezoidal base",
+    "Press the electric toggle switch via automation",
+    "Engage the right arm to press the gray smooth surface switch",
+    "Press the gray base with black buttons directly",
+    "Click the medium switch with trapezoidal base directly.",
+    "Approach and tap the gray switch with black buttons via the right arm",
+    "Activate the the gray switch with black buttons using the right arm",
+    "Locate and press the gray plastic switch",
+    "Engage the plastic switch with matte buttons using the right arm",
+    "Trigger the switch with trapezoidal base without referencing the right arm",
+    "Deploy the right arm to press the smooth gray switch",
+    "Move to the gray base with black buttons and click it.",
+    "Initiate the gray plastic switch by clicking",
+    "Tap the switch with trapezoidal base to engage it",
+    "Press the trapezoidal base switch using the right arm.",
+    "Trigger the gray base with black buttons with precision",
+    "Press the gray plastic switch carefully with the right arm",
+    "Directly interact with the smooth gray switch",
+    "Command the right arm to engage the switch with trapezoidal base",
+    "Push the gray switch with black buttons via the right arm.",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Toggle the gray base with black buttons with the right arm.",
+    "Use the right arm to engage the trapezoidal base switch",
+    "Interact with the plastic switch with matte buttons directly",
+    "Click the plastic switch with matte buttons with robotic precision",
+    "Activate the gray smooth surface switch with robotic precision",
+    "Press the handheld switch with the right arm",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Set the right arm to press the handheld switch",
+    "Interact with the gray smooth surface switch.",
+    "Click the smooth gray switch to activate it",
+    "Switch the two-button gray switch to its active state",
+    "Press the gray base with black buttons using robotic control",
+    "Activate the switch with trapezoidal base via the right arm",
+    "Direct the right arm to operate the switch with trapezoidal base",
+    "Press the gray switch with black buttons to activate.",
+    "Operate the right arm to engage the two-button gray switch",
+    "Engage with the gray smooth surface switch manually",
+    "Trigger the gray smooth surface switch using the right arm",
+    "Set the switch at the gray base with black buttons",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Use the right arm for switching the plastic switch with matte buttons",
+    "Engage the switch with trapezoidal base using the robotic arm",
+    "Click on the gray switch with black buttons precisely",
+    "Activate the gray base with black buttons directly",
+    "Click the trapezoidal base switch using automated tools",
+    "Use the right arm to interact with the two-button gray switch",
+    "Operate the two-button gray switch with the right arm",
+    "Engage the plastic switch with matte buttons using the right arm.",
+    "Activate the gray smooth surface switch with the right arm.",
+    "Locate and press the medium switch with trapezoidal base",
+    "Press the plastic switch with matte buttons via automation",
+    "Engage the right arm to press the handheld switch",
+    "Press the gray smooth surface switch directly",
+    "Click the handheld switch directly.",
+    "Approach and tap the plastic switch with matte buttons via the right arm",
+    "Activate the the switch with trapezoidal base using the right arm",
+    "Locate and press the handheld switch",
+    "Engage the smooth gray switch using the right arm",
+    "Trigger the gray plastic switch without referencing the right arm",
+    "Deploy the right arm to press the gray base with black buttons",
+    "Move to the trapezoidal base switch and click it.",
+    "Initiate the handheld switch by clicking",
+    "Tap the switch with trapezoidal base to engage it",
+    "Press the switch with trapezoidal base using the right arm.",
+    "Trigger the gray base with black buttons with precision",
+    "Press the plastic switch with matte buttons carefully with the right arm",
+    "Directly interact with the gray base with black buttons",
+    "Command the right arm to engage the handheld switch",
+    "Push the gray smooth surface switch via the right arm.",
+    "Engage the gray plastic switch with a press.",
+    "Toggle the medium switch with trapezoidal base with the right arm.",
+    "Use the right arm to engage the gray base with black buttons",
+    "Interact with the electric toggle switch directly",
+    "Click the gray plastic switch with robotic precision",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Press the gray switch with black buttons with the right arm",
+    "Deploy the right arm to operate the plastic switch with matte buttons",
+    "Set the right arm to press the smooth gray switch",
+    "Interact with the gray plastic switch.",
+    "Click the switch with trapezoidal base to activate it",
+    "Switch the gray base with black buttons to its active state",
+    "Press the electric toggle switch using robotic control",
+    "Activate the gray switch with black buttons via the right arm",
+    "Direct the right arm to operate the plastic switch with matte buttons",
+    "Press the gray switch with black buttons to activate.",
+    "Operate the right arm to engage the gray switch with black buttons",
+    "Engage with the plastic switch with matte buttons manually",
+    "Trigger the smooth gray switch using the right arm",
+    "Set the switch at the electric toggle switch",
+    "Activate the electric toggle switch by pressing it",
+    "Use the right arm for switching the medium switch with trapezoidal base",
+    "Engage the electric toggle switch using the robotic arm",
+    "Click on the gray plastic switch precisely",
+    "Activate the medium switch with trapezoidal base directly"
+  ],
+  "unseen": [
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode227.json b/turn_switch/piper_randomized_500/instructions/episode227.json
new file mode 100644
index 0000000000000000000000000000000000000000..733e3a3b4f309b58769ef41e5343d7231ea9ece1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode227.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the rectangular switch with precision",
+    "Operate the right arm to engage the plastic switch with metal prongs",
+    "Command the right arm to engage the metal-pronged black switch",
+    "Press the tiny rectangular switch carefully with the right arm",
+    "Locate and press the small switch with red lever",
+    "Click the metal-pronged black switch with robotic precision",
+    "Click the switch with three metal pins using automated tools",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Direct the right arm to operate the black base switch",
+    "Activate the tiny rectangular switch via the right arm",
+    "Press the switch with three metal pins to activate.",
+    "Trigger the smooth red switch with labels without referencing the right arm",
+    "Set the right arm to press the plastic switch with metal prongs",
+    "Interact with the switch with three metal pins.",
+    "Deploy the right arm to press the black base switch",
+    "Use the right arm for switching the metal-pronged black switch",
+    "Use the right arm to interact with the tiny rectangular switch",
+    "Operate the switch for turning circuits on off with the right arm",
+    "Interact with the small switch with red lever directly",
+    "Trigger the toggle switch with black housing using the right arm",
+    "Engage the switch for turning circuits on off with a press.",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Switch the switch with three metal pins to its active state",
+    "Press the metal-pronged black switch with the right arm",
+    "Activate the switch with three metal pins with robotic precision",
+    "Tap the tiny rectangular switch to engage it",
+    "Engage the right arm to press the red and black electrical switch",
+    "Press the tiny rectangular switch via automation",
+    "Press the plastic switch with metal prongs directly",
+    "Press the smooth red switch with labels using robotic control",
+    "Toggle the metal-pronged black switch with the right arm.",
+    "Directly interact with the black base switch",
+    "Activate the red and black electrical switch with the right arm.",
+    "Click the switch with three metal pins to activate it",
+    "Push the black base switch via the right arm.",
+    "Approach and tap the red and black electrical switch via the right arm",
+    "Move to the tiny rectangular switch and click it.",
+    "Engage the plastic switch with metal prongs using the right arm",
+    "Deploy the right arm to operate the tiny rectangular switch",
+    "Use the right arm to engage the switch for turning circuits on off",
+    "Activate the tiny rectangular switch directly",
+    "Click on the plastic switch with metal prongs precisely",
+    "Activate the the black base switch using the right arm",
+    "Engage the small switch with red lever using the right arm.",
+    "Set the switch at the plastic switch with metal prongs",
+    "Press the switch for turning circuits on off using the right arm.",
+    "Click the plastic switch with metal prongs directly.",
+    "Engage with the switch for turning circuits on off manually",
+    "Activate the tiny rectangular switch by pressing it",
+    "Locate and press the switch for turning circuits on off",
+    "Trigger the rectangular switch with precision",
+    "Operate the right arm to engage the smooth red switch with labels",
+    "Command the right arm to engage the small switch with red lever",
+    "Press the two-tone red black switch carefully with the right arm",
+    "Locate and press the smooth red switch with labels",
+    "Click the rectangular switch with robotic precision",
+    "Click the switch with three metal pins using automated tools",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Direct the right arm to operate the metal-pronged black switch",
+    "Activate the tiny rectangular switch via the right arm",
+    "Press the tiny rectangular switch to activate.",
+    "Trigger the rectangular switch without referencing the right arm",
+    "Set the right arm to press the tiny rectangular switch",
+    "Interact with the two-tone red black switch.",
+    "Deploy the right arm to press the switch for turning circuits on off",
+    "Use the right arm for switching the red and black electrical switch",
+    "Use the right arm to interact with the smooth red switch with labels",
+    "Operate the two-tone red black switch with the right arm",
+    "Interact with the red and black electrical switch directly",
+    "Trigger the switch with three metal pins using the right arm",
+    "Engage the smooth red switch with labels with a press.",
+    "Initiate the red and black electrical switch by clicking",
+    "Switch the switch for turning circuits on off to its active state",
+    "Press the red and black electrical switch with the right arm",
+    "Activate the metal-pronged black switch with robotic precision",
+    "Tap the switch with three metal pins to engage it",
+    "Engage the right arm to press the black base switch",
+    "Press the two-tone red black switch via automation",
+    "Press the toggle switch with black housing directly",
+    "Press the switch with three metal pins using robotic control",
+    "Toggle the switch for turning circuits on off with the right arm.",
+    "Directly interact with the small switch with red lever",
+    "Activate the tiny rectangular switch with the right arm.",
+    "Click the switch with three metal pins to activate it",
+    "Push the switch with three metal pins via the right arm.",
+    "Approach and tap the tiny rectangular switch via the right arm",
+    "Move to the rectangular switch and click it.",
+    "Engage the smooth red switch with labels using the right arm",
+    "Deploy the right arm to operate the black base switch",
+    "Use the right arm to engage the two-tone red black switch",
+    "Activate the red and black electrical switch directly",
+    "Click on the smooth red switch with labels precisely",
+    "Activate the the smooth red switch with labels using the right arm",
+    "Engage the toggle switch with black housing using the right arm.",
+    "Set the switch at the black base switch",
+    "Press the toggle switch with black housing using the right arm.",
+    "Click the small switch with red lever directly.",
+    "Engage with the small switch with red lever manually",
+    "Activate the tiny rectangular switch by pressing it",
+    "Locate and press the smooth red switch with labels"
+  ],
+  "unseen": [
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode228.json b/turn_switch/piper_randomized_500/instructions/episode228.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b2dc087ad2649ad3b563f1a5f12456d4215bf7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode228.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the square switch with smooth surface and click it.",
+    "Engage the small square switch made of plastic using the robotic arm",
+    "Trigger the palm-sized light gray switch using the right arm",
+    "Activate the flat square with raised center with robotic precision",
+    "Press the smooth gray switch using the right arm.",
+    "Press the palm-sized light gray switch to activate.",
+    "Engage the switch with rectangular raised area using the right arm",
+    "Deploy the right arm to press the square gray switch panel",
+    "Activate the square gray switch panel with the right arm.",
+    "Push the switch for electrical control via the right arm.",
+    "Set the switch at the palm-sized light gray switch",
+    "Press the switch for electrical control using robotic control",
+    "Toggle the square gray switch panel with the right arm.",
+    "Use the right arm to engage the smooth gray switch",
+    "Engage the small square switch with a press.",
+    "Engage the right arm to press the small square switch",
+    "Interact with the switch with rectangular raised area.",
+    "Activate the the square gray switch panel using the right arm",
+    "Locate and press the square gray switch panel",
+    "Use the right arm to interact with the flat square with raised center",
+    "Command the right arm to engage the square switch with smooth surface",
+    "Press the small square switch made of plastic directly",
+    "Approach and tap the light gray plastic switch via the right arm",
+    "Operate the right arm to engage the switch for electrical control",
+    "Set the right arm to press the palm-sized light gray switch",
+    "Interact with the light gray plastic switch directly",
+    "Use the right arm for switching the switch with smooth light gray finish",
+    "Activate the palm-sized light gray switch via the right arm",
+    "Click the angled-edge gray square switch using automated tools",
+    "Tap the switch for electrical control to engage it",
+    "Trigger the palm-sized light gray switch with precision",
+    "Operate the small square switch made of plastic with the right arm",
+    "Locate and press the smooth gray switch",
+    "Activate the flat square with raised center directly",
+    "Click the square gray switch panel directly.",
+    "Click the flat square with raised center with robotic precision",
+    "Deploy the right arm to operate the switch with rectangular raised area",
+    "Click on the switch for electrical control precisely",
+    "Trigger the square gray switch panel without referencing the right arm",
+    "Click the angled-edge gray square switch to activate it",
+    "Switch the small square switch made of plastic to its active state",
+    "Direct the right arm to operate the square switch with smooth surface",
+    "Press the palm-sized light gray switch carefully with the right arm",
+    "Press the square gray switch panel via automation",
+    "Directly interact with the small square switch made of plastic",
+    "Activate the square gray switch panel by pressing it",
+    "Engage with the square gray switch panel manually",
+    "Press the switch with smooth light gray finish with the right arm",
+    "Initiate the square switch with smooth surface by clicking",
+    "Engage the flat square with raised center using the right arm.",
+    "Move to the light gray plastic switch and click it.",
+    "Engage the small square switch made of plastic using the robotic arm",
+    "Trigger the square gray switch panel using the right arm",
+    "Activate the flat square with raised center with robotic precision",
+    "Press the smooth gray switch using the right arm.",
+    "Press the switch with rectangular raised area to activate.",
+    "Engage the angled-edge gray square switch using the right arm",
+    "Deploy the right arm to press the switch with rectangular raised area",
+    "Activate the flat square with raised center with the right arm.",
+    "Push the small square switch made of plastic via the right arm.",
+    "Set the switch at the light gray plastic switch",
+    "Press the palm-sized light gray switch using robotic control",
+    "Toggle the square switch with smooth surface with the right arm.",
+    "Use the right arm to engage the light gray plastic switch",
+    "Engage the switch for electrical control with a press.",
+    "Engage the right arm to press the palm-sized light gray switch",
+    "Interact with the square gray switch panel.",
+    "Activate the the palm-sized light gray switch using the right arm",
+    "Locate and press the switch with rectangular raised area",
+    "Use the right arm to interact with the smooth gray switch",
+    "Command the right arm to engage the switch with rectangular raised area",
+    "Press the square switch with smooth surface directly",
+    "Approach and tap the switch with smooth light gray finish via the right arm",
+    "Operate the right arm to engage the small square switch",
+    "Set the right arm to press the angled-edge gray square switch",
+    "Interact with the switch with rectangular raised area directly",
+    "Use the right arm for switching the smooth gray switch",
+    "Activate the square gray switch panel via the right arm",
+    "Click the square gray switch panel using automated tools",
+    "Tap the switch with smooth light gray finish to engage it",
+    "Trigger the small square switch with precision",
+    "Operate the small square switch made of plastic with the right arm",
+    "Locate and press the palm-sized light gray switch",
+    "Activate the small square switch directly",
+    "Click the flat square with raised center directly.",
+    "Click the square switch with smooth surface with robotic precision",
+    "Deploy the right arm to operate the switch for electrical control",
+    "Click on the square switch with smooth surface precisely",
+    "Trigger the small square switch made of plastic without referencing the right arm",
+    "Click the smooth gray switch to activate it",
+    "Switch the square switch with smooth surface to its active state",
+    "Direct the right arm to operate the palm-sized light gray switch",
+    "Press the switch with rectangular raised area carefully with the right arm",
+    "Press the palm-sized light gray switch via automation",
+    "Directly interact with the switch for electrical control",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Engage with the switch for electrical control manually",
+    "Press the smooth gray switch with the right arm",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Engage the square gray switch panel using the right arm."
+  ],
+  "unseen": [
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode230.json b/turn_switch/piper_randomized_500/instructions/episode230.json
new file mode 100644
index 0000000000000000000000000000000000000000..1504ea16209bb76174176270c589d951c2ff7ad3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode230.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the square switch with smooth surface with a press.",
+    "Interact with the small square switch directly",
+    "Click the square gray switch panel using automated tools",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Use the right arm to engage the square switch with smooth surface",
+    "Use the right arm to interact with the square switch with smooth surface",
+    "Press the small square switch made of plastic directly",
+    "Engage with the flat square with raised center manually",
+    "Locate and press the square switch with smooth surface",
+    "Switch the angled-edge gray square switch to its active state",
+    "Set the right arm to press the flat square with raised center",
+    "Activate the switch for electrical control directly",
+    "Press the small square switch with the right arm",
+    "Activate the square gray switch panel with robotic precision",
+    "Tap the smooth gray switch to engage it",
+    "Operate the square switch with smooth surface with the right arm",
+    "Engage the switch with rectangular raised area using the right arm",
+    "Engage the switch for electrical control using the robotic arm",
+    "Activate the the small square switch made of plastic using the right arm",
+    "Set the switch at the switch with rectangular raised area",
+    "Engage the right arm to press the smooth gray switch",
+    "Interact with the angled-edge gray square switch.",
+    "Press the angled-edge gray square switch carefully with the right arm",
+    "Activate the switch with smooth light gray finish with the right arm.",
+    "Deploy the right arm to press the small square switch",
+    "Engage the small square switch made of plastic using the right arm.",
+    "Click on the light gray plastic switch precisely",
+    "Toggle the light gray plastic switch with the right arm.",
+    "Approach and tap the flat square with raised center via the right arm",
+    "Activate the square gray switch panel by pressing it",
+    "Click the switch for electrical control to activate it",
+    "Directly interact with the switch with smooth light gray finish",
+    "Press the flat square with raised center using robotic control",
+    "Move to the square switch with smooth surface and click it.",
+    "Click the small square switch directly.",
+    "Trigger the switch with rectangular raised area using the right arm",
+    "Command the right arm to engage the flat square with raised center",
+    "Use the right arm for switching the palm-sized light gray switch",
+    "Push the square gray switch panel via the right arm.",
+    "Trigger the square switch with smooth surface with precision",
+    "Deploy the right arm to operate the palm-sized light gray switch",
+    "Press the smooth gray switch to activate.",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Activate the square gray switch panel via the right arm",
+    "Operate the right arm to engage the switch with rectangular raised area",
+    "Press the switch with rectangular raised area via automation",
+    "Locate and press the light gray plastic switch",
+    "Direct the right arm to operate the switch with smooth light gray finish",
+    "Trigger the palm-sized light gray switch without referencing the right arm",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Engage the square switch with smooth surface with a press.",
+    "Interact with the small square switch directly",
+    "Click the small square switch using automated tools",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Use the right arm to engage the flat square with raised center",
+    "Use the right arm to interact with the switch with smooth light gray finish",
+    "Press the switch with rectangular raised area directly",
+    "Engage with the switch with smooth light gray finish manually",
+    "Locate and press the palm-sized light gray switch",
+    "Switch the palm-sized light gray switch to its active state",
+    "Set the right arm to press the square switch with smooth surface",
+    "Activate the palm-sized light gray switch directly",
+    "Press the small square switch with the right arm",
+    "Activate the switch with smooth light gray finish with robotic precision",
+    "Tap the square switch with smooth surface to engage it",
+    "Operate the flat square with raised center with the right arm",
+    "Engage the switch for electrical control using the right arm",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Activate the the palm-sized light gray switch using the right arm",
+    "Set the switch at the square gray switch panel",
+    "Engage the right arm to press the small square switch",
+    "Interact with the light gray plastic switch.",
+    "Press the small square switch made of plastic carefully with the right arm",
+    "Activate the flat square with raised center with the right arm.",
+    "Deploy the right arm to press the square gray switch panel",
+    "Engage the square gray switch panel using the right arm.",
+    "Click on the angled-edge gray square switch precisely",
+    "Toggle the square switch with smooth surface with the right arm.",
+    "Approach and tap the switch for electrical control via the right arm",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Click the palm-sized light gray switch to activate it",
+    "Directly interact with the square gray switch panel",
+    "Press the switch with smooth light gray finish using robotic control",
+    "Move to the small square switch made of plastic and click it.",
+    "Click the small square switch directly.",
+    "Trigger the switch with smooth light gray finish using the right arm",
+    "Command the right arm to engage the light gray plastic switch",
+    "Use the right arm for switching the light gray plastic switch",
+    "Push the switch with smooth light gray finish via the right arm.",
+    "Trigger the flat square with raised center with precision",
+    "Deploy the right arm to operate the flat square with raised center",
+    "Press the angled-edge gray square switch to activate.",
+    "Press the square switch with smooth surface using the right arm.",
+    "Activate the square switch with smooth surface via the right arm",
+    "Operate the right arm to engage the switch with rectangular raised area",
+    "Press the light gray plastic switch via automation",
+    "Locate and press the palm-sized light gray switch",
+    "Direct the right arm to operate the light gray plastic switch",
+    "Trigger the angled-edge gray square switch without referencing the right arm",
+    "Initiate the smooth gray switch by clicking"
+  ],
+  "unseen": [
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the switch with angled edges with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the flat gray switch with the right arm.",
+    "Click the switch with angled edges using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Activate the switch at the gray switch with slanted sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode231.json b/turn_switch/piper_randomized_500/instructions/episode231.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6d5432ed269e5bef26eeeb4ee0fdf9e19730ac0
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode231.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the flat square with raised center precisely",
+    "Activate the palm-sized light gray switch by pressing it",
+    "Use the left arm to interact with the light gray plastic switch",
+    "Use the left arm for switching the switch with rectangular raised area",
+    "Use the left arm to engage the square gray switch panel",
+    "Push the small square switch made of plastic via the left arm.",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Click the switch with rectangular raised area to activate it",
+    "Command the left arm to engage the switch with smooth light gray finish",
+    "Trigger the smooth gray switch with precision",
+    "Press the square gray switch panel using robotic control",
+    "Directly interact with the switch for electrical control",
+    "Tap the light gray plastic switch to engage it",
+    "Press the light gray plastic switch carefully with the left arm",
+    "Engage the small square switch with a press.",
+    "Trigger the palm-sized light gray switch without referencing the left arm",
+    "Activate the small square switch made of plastic via the left arm",
+    "Activate the light gray plastic switch with the left arm.",
+    "Press the square switch with smooth surface to activate.",
+    "Locate and press the small square switch",
+    "Engage with the palm-sized light gray switch manually",
+    "Interact with the palm-sized light gray switch directly",
+    "Interact with the light gray plastic switch.",
+    "Set the left arm to press the small square switch made of plastic",
+    "Trigger the small square switch using the left arm",
+    "Toggle the flat square with raised center with the left arm.",
+    "Deploy the left arm to operate the small square switch made of plastic",
+    "Engage the left arm to press the smooth gray switch",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Switch the square switch with smooth surface to its active state",
+    "Engage the light gray plastic switch using the left arm",
+    "Press the palm-sized light gray switch via automation",
+    "Approach and tap the palm-sized light gray switch via the left arm",
+    "Press the switch with rectangular raised area using the left arm.",
+    "Move to the smooth gray switch and click it.",
+    "Press the smooth gray switch directly",
+    "Click the square gray switch panel with robotic precision",
+    "Direct the left arm to operate the small square switch made of plastic",
+    "Locate and press the smooth gray switch",
+    "Activate the switch with smooth light gray finish directly",
+    "Initiate the square switch with smooth surface by clicking",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Set the switch at the switch with rectangular raised area",
+    "Click the flat square with raised center using automated tools",
+    "Operate the switch with rectangular raised area with the left arm",
+    "Activate the the switch for electrical control using the left arm",
+    "Click the light gray plastic switch directly.",
+    "Press the flat square with raised center with the left arm",
+    "Engage the switch for electrical control using the left arm.",
+    "Deploy the left arm to press the switch with smooth light gray finish",
+    "Click on the switch for electrical control precisely",
+    "Activate the light gray plastic switch by pressing it",
+    "Use the left arm to interact with the light gray plastic switch",
+    "Use the left arm for switching the flat square with raised center",
+    "Use the left arm to engage the switch with smooth light gray finish",
+    "Push the small square switch via the left arm.",
+    "Activate the square gray switch panel with robotic precision",
+    "Click the switch with smooth light gray finish to activate it",
+    "Command the left arm to engage the palm-sized light gray switch",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the switch for electrical control using robotic control",
+    "Directly interact with the angled-edge gray square switch",
+    "Tap the small square switch to engage it",
+    "Press the small square switch carefully with the left arm",
+    "Engage the switch with rectangular raised area with a press.",
+    "Trigger the small square switch made of plastic without referencing the left arm",
+    "Activate the switch for electrical control via the left arm",
+    "Activate the switch with rectangular raised area with the left arm.",
+    "Press the switch with smooth light gray finish to activate.",
+    "Locate and press the palm-sized light gray switch",
+    "Engage with the angled-edge gray square switch manually",
+    "Interact with the flat square with raised center directly",
+    "Interact with the palm-sized light gray switch.",
+    "Set the left arm to press the smooth gray switch",
+    "Trigger the square gray switch panel using the left arm",
+    "Toggle the light gray plastic switch with the left arm.",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Engage the left arm to press the switch with smooth light gray finish",
+    "Operate the left arm to engage the square switch with smooth surface",
+    "Switch the square switch with smooth surface to its active state",
+    "Engage the light gray plastic switch using the left arm",
+    "Press the small square switch via automation",
+    "Approach and tap the switch for electrical control via the left arm",
+    "Press the switch for electrical control using the left arm.",
+    "Move to the switch with rectangular raised area and click it.",
+    "Press the small square switch made of plastic directly",
+    "Click the small square switch with robotic precision",
+    "Direct the left arm to operate the small square switch",
+    "Locate and press the small square switch",
+    "Activate the flat square with raised center directly",
+    "Initiate the switch with smooth light gray finish by clicking",
+    "Engage the smooth gray switch using the robotic arm",
+    "Set the switch at the switch for electrical control",
+    "Click the flat square with raised center using automated tools",
+    "Operate the light gray plastic switch with the left arm",
+    "Activate the the angled-edge gray square switch using the left arm",
+    "Click the flat square with raised center directly.",
+    "Press the square switch with smooth surface with the left arm",
+    "Engage the square switch with smooth surface using the left arm.",
+    "Deploy the left arm to press the switch with rectangular raised area"
+  ],
+  "unseen": [
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode233.json b/turn_switch/piper_randomized_500/instructions/episode233.json
new file mode 100644
index 0000000000000000000000000000000000000000..571dcfe6fc52bc39d139cf22805962882cc14099
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode233.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the toggle switch light gray base using automated tools",
+    "Direct the left arm to operate the light gray square switch",
+    "Set the switch at the control switch with red lever",
+    "Trigger the red bar switch without referencing the left arm",
+    "Engage the switch for electrical control with a press.",
+    "Trigger the light gray square switch with precision",
+    "Engage the light gray square switch using the left arm",
+    "Deploy the left arm to operate the light gray square switch",
+    "Press the switch for electrical control to activate.",
+    "Tap the plastic gray body switch to engage it",
+    "Switch the switch for electrical control to its active state",
+    "Activate the red bar switch via the left arm",
+    "Activate the switch directly",
+    "Locate and press the gray switch with red toggle",
+    "Push the toggle switch light gray base via the left arm.",
+    "Engage the left arm to press the compact switch with flat base",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Activate the the red bar switch using the left arm",
+    "Directly interact with the control switch with red lever",
+    "Engage with the compact switch with flat base manually",
+    "Use the left arm for switching the red bar switch",
+    "Press the plastic gray body switch using robotic control",
+    "Activate the plastic gray body switch with the left arm.",
+    "Click on the switch for electrical control precisely",
+    "Toggle the switch for electrical control with the left arm.",
+    "Interact with the compact switch with flat base directly",
+    "Deploy the left arm to press the switch",
+    "Operate the left arm to engage the light gray square switch",
+    "Set the left arm to press the gray switch with red toggle",
+    "Operate the plastic gray body switch with the left arm",
+    "Initiate the gray switch with red toggle by clicking",
+    "Press the gray switch with red toggle carefully with the left arm",
+    "Approach and tap the gray switch with red toggle via the left arm",
+    "Press the compact switch with flat base via automation",
+    "Press the plastic gray body switch with the left arm",
+    "Move to the toggle switch light gray base and click it.",
+    "Click the gray switch with red toggle to activate it",
+    "Click the light gray square switch with robotic precision",
+    "Activate the electrical switch with protruding toggle with robotic precision",
+    "Command the left arm to engage the switch with thin red toggle",
+    "Use the left arm to interact with the red bar switch",
+    "Press the square switch with red bar using the left arm.",
+    "Interact with the square switch with red bar.",
+    "Use the left arm to engage the plastic gray body switch",
+    "Press the compact switch with flat base directly",
+    "Click the control switch with red lever directly.",
+    "Trigger the square switch with red bar using the left arm",
+    "Engage the gray switch with red toggle using the left arm.",
+    "Locate and press the switch with thin red toggle",
+    "Activate the switch for electrical control by pressing it",
+    "Click the square switch with red bar using automated tools",
+    "Direct the left arm to operate the compact switch with flat base",
+    "Set the switch at the switch",
+    "Trigger the switch for electrical control without referencing the left arm",
+    "Engage the gray switch with red toggle with a press.",
+    "Trigger the square switch with red bar with precision",
+    "Engage the square switch with red bar using the left arm",
+    "Deploy the left arm to operate the red bar switch",
+    "Press the switch with thin red toggle to activate.",
+    "Tap the light gray square switch to engage it",
+    "Switch the switch for electrical control to its active state",
+    "Activate the switch via the left arm",
+    "Activate the gray switch with red toggle directly",
+    "Locate and press the toggle switch light gray base",
+    "Push the square switch with red bar via the left arm.",
+    "Engage the left arm to press the switch",
+    "Engage the gray switch with red toggle using the robotic arm",
+    "Activate the the electrical switch with protruding toggle using the left arm",
+    "Directly interact with the red bar switch",
+    "Engage with the plastic gray body switch manually",
+    "Use the left arm for switching the gray switch with red toggle",
+    "Press the switch for electrical control using robotic control",
+    "Activate the plastic gray body switch with the left arm.",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Toggle the switch with thin red toggle with the left arm.",
+    "Interact with the toggle switch light gray base directly",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Operate the left arm to engage the switch with thin red toggle",
+    "Set the left arm to press the toggle switch light gray base",
+    "Operate the toggle switch light gray base with the left arm",
+    "Initiate the square switch with red bar by clicking",
+    "Press the electrical switch with protruding toggle carefully with the left arm",
+    "Approach and tap the switch with thin red toggle via the left arm",
+    "Press the switch with thin red toggle via automation",
+    "Press the red bar switch with the left arm",
+    "Move to the control switch with red lever and click it.",
+    "Click the switch to activate it",
+    "Click the red bar switch with robotic precision",
+    "Activate the switch for electrical control with robotic precision",
+    "Command the left arm to engage the compact switch with flat base",
+    "Use the left arm to interact with the square switch with red bar",
+    "Press the square switch with red bar using the left arm.",
+    "Interact with the plastic gray body switch.",
+    "Use the left arm to engage the square switch with red bar",
+    "Press the switch directly",
+    "Click the square switch with red bar directly.",
+    "Trigger the switch using the left arm",
+    "Engage the plastic gray body switch using the left arm.",
+    "Locate and press the square switch with red bar",
+    "Activate the switch with thin red toggle by pressing it"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode236.json b/turn_switch/piper_randomized_500/instructions/episode236.json
new file mode 100644
index 0000000000000000000000000000000000000000..27dcaabdb265c1a53a8e89ceb237eef6e032f1a6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode236.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch for electrical control to activate.",
+    "Locate and press the control switch with red lever",
+    "Use the right arm for switching the electrical switch with protruding toggle",
+    "Activate the the plastic gray body switch using the right arm",
+    "Push the square switch with red bar via the right arm.",
+    "Activate the red bar switch via the right arm",
+    "Use the right arm to interact with the switch",
+    "Locate and press the switch with thin red toggle",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Initiate the switch by clicking",
+    "Move to the light gray square switch and click it.",
+    "Click the light gray square switch with robotic precision",
+    "Click the red bar switch to activate it",
+    "Press the light gray square switch using the right arm.",
+    "Press the red bar switch with the right arm",
+    "Activate the red bar switch with robotic precision",
+    "Click the square switch with red bar directly.",
+    "Set the right arm to press the switch",
+    "Engage the right arm to press the gray switch with red toggle",
+    "Trigger the red bar switch with precision",
+    "Approach and tap the compact switch with flat base via the right arm",
+    "Operate the right arm to engage the compact switch with flat base",
+    "Trigger the control switch with red lever without referencing the right arm",
+    "Interact with the light gray square switch directly",
+    "Click the square switch with red bar using automated tools",
+    "Deploy the right arm to press the switch with thin red toggle",
+    "Engage the light gray square switch using the right arm",
+    "Command the right arm to engage the red bar switch",
+    "Tap the light gray square switch to engage it",
+    "Set the switch at the toggle switch light gray base",
+    "Toggle the electrical switch with protruding toggle with the right arm.",
+    "Interact with the square switch with red bar.",
+    "Press the red bar switch via automation",
+    "Activate the switch for electrical control directly",
+    "Activate the gray switch with red toggle with the right arm.",
+    "Operate the control switch with red lever with the right arm",
+    "Engage the red bar switch using the right arm.",
+    "Deploy the right arm to operate the plastic gray body switch",
+    "Direct the right arm to operate the switch with thin red toggle",
+    "Directly interact with the light gray square switch",
+    "Activate the square switch with red bar by pressing it",
+    "Engage the toggle switch light gray base with a press.",
+    "Press the plastic gray body switch carefully with the right arm",
+    "Engage with the switch for electrical control manually",
+    "Trigger the control switch with red lever using the right arm",
+    "Switch the switch with thin red toggle to its active state",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Press the red bar switch directly",
+    "Press the toggle switch light gray base using robotic control",
+    "Use the right arm to engage the control switch with red lever",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Locate and press the red bar switch",
+    "Use the right arm for switching the toggle switch light gray base",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Push the compact switch with flat base via the right arm.",
+    "Activate the square switch with red bar via the right arm",
+    "Use the right arm to interact with the switch",
+    "Locate and press the control switch with red lever",
+    "Engage the control switch with red lever using the robotic arm",
+    "Initiate the light gray square switch by clicking",
+    "Move to the square switch with red bar and click it.",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Click the gray switch with red toggle to activate it",
+    "Press the electrical switch with protruding toggle using the right arm.",
+    "Press the electrical switch with protruding toggle with the right arm",
+    "Activate the red bar switch with robotic precision",
+    "Click the control switch with red lever directly.",
+    "Set the right arm to press the plastic gray body switch",
+    "Engage the right arm to press the toggle switch light gray base",
+    "Trigger the switch for electrical control with precision",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Operate the right arm to engage the light gray square switch",
+    "Trigger the square switch with red bar without referencing the right arm",
+    "Interact with the red bar switch directly",
+    "Click the switch using automated tools",
+    "Deploy the right arm to press the control switch with red lever",
+    "Engage the red bar switch using the right arm",
+    "Command the right arm to engage the red bar switch",
+    "Tap the switch to engage it",
+    "Set the switch at the compact switch with flat base",
+    "Toggle the red bar switch with the right arm.",
+    "Interact with the compact switch with flat base.",
+    "Press the light gray square switch via automation",
+    "Activate the electrical switch with protruding toggle directly",
+    "Activate the control switch with red lever with the right arm.",
+    "Operate the gray switch with red toggle with the right arm",
+    "Engage the toggle switch light gray base using the right arm.",
+    "Deploy the right arm to operate the switch with thin red toggle",
+    "Direct the right arm to operate the switch",
+    "Directly interact with the toggle switch light gray base",
+    "Activate the switch with thin red toggle by pressing it",
+    "Engage the red bar switch with a press.",
+    "Press the square switch with red bar carefully with the right arm",
+    "Engage with the gray switch with red toggle manually",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Switch the switch to its active state",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Press the switch for electrical control directly",
+    "Press the switch with thin red toggle using robotic control",
+    "Use the right arm to engage the toggle switch light gray base"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode237.json b/turn_switch/piper_randomized_500/instructions/episode237.json
new file mode 100644
index 0000000000000000000000000000000000000000..3071f5f16bf226f61c8aa0a3a9af6869b47b1d22
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode237.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the left arm to press the tiny matte beige toggle switch",
+    "Toggle the tiny matte beige toggle switch with the left arm.",
+    "Press the small trapezoid switch using robotic control",
+    "Activate the switch with a smooth top with the left arm.",
+    "Engage the left arm to press the tiny matte beige toggle switch",
+    "Click the small trapezoid switch with robotic precision",
+    "Use the left arm to interact with the hand-sized light beige switch",
+    "Interact with the beige switch directly",
+    "Interact with the hand-sized light beige switch.",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Press the switch with a smooth top using the left arm.",
+    "Deploy the left arm to operate the switch with rectangular dark button",
+    "Click the switch with a smooth top using automated tools",
+    "Deploy the left arm to press the matte beige switch with flat top",
+    "Command the left arm to engage the light plastic switch",
+    "Tap the small trapezoid switch to engage it",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the left arm",
+    "Click on the switch with a smooth top precisely",
+    "Operate the small trapezoid switch with the left arm",
+    "Operate the left arm to engage the hand-sized light beige switch",
+    "Directly interact with the beige switch with smooth finish",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Click the light plastic switch to activate it",
+    "Activate the switch with a smooth top by pressing it",
+    "Push the matte beige switch with flat top via the left arm.",
+    "Activate the beige switch via the left arm",
+    "Direct the left arm to operate the matte beige switch with flat top",
+    "Approach and tap the switch with brown button via the left arm",
+    "Trigger the toggle switch with brown rectangle button using the left arm",
+    "Trigger the light plastic switch without referencing the left arm",
+    "Press the switch with rectangular dark button with the left arm",
+    "Click the matte beige switch with flat top directly.",
+    "Move to the toggle switch with brown rectangle button and click it.",
+    "Press the switch with brown button to activate.",
+    "Locate and press the small trapezoid switch",
+    "Engage the switch with rectangular dark button using the left arm.",
+    "Activate the switch with rectangular dark button with robotic precision",
+    "Engage the switch with a smooth top using the robotic arm",
+    "Press the light-colored trapezoid-shaped plastic switch via automation",
+    "Press the switch with a smooth top directly",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Engage the beige switch with smooth finish using the left arm",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Locate and press the light plastic switch",
+    "Activate the toggle switch with brown rectangle button directly",
+    "Engage with the switch with a smooth top manually",
+    "Activate the the switch with brown button using the left arm",
+    "Initiate the beige switch with smooth finish by clicking",
+    "Use the left arm to engage the small trapezoid switch",
+    "Use the left arm for switching the beige switch",
+    "Set the left arm to press the small trapezoid switch",
+    "Toggle the beige switch with smooth finish with the left arm.",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Activate the matte beige switch with flat top with the left arm.",
+    "Engage the left arm to press the light plastic switch",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Use the left arm to interact with the matte beige switch with flat top",
+    "Interact with the switch with a smooth top directly",
+    "Interact with the beige switch.",
+    "Trigger the tiny matte beige toggle switch with precision",
+    "Press the switch with brown button using the left arm.",
+    "Deploy the left arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Click the beige switch using automated tools",
+    "Deploy the left arm to press the toggle switch with brown rectangle button",
+    "Command the left arm to engage the tiny matte beige toggle switch",
+    "Tap the beige switch to engage it",
+    "Press the switch with rectangular dark button carefully with the left arm",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Operate the hand-sized light beige switch with the left arm",
+    "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Directly interact with the switch with a smooth top",
+    "Set the switch at the beige switch",
+    "Click the hand-sized light beige switch to activate it",
+    "Activate the beige switch by pressing it",
+    "Push the matte beige switch with flat top via the left arm.",
+    "Activate the beige switch with smooth finish via the left arm",
+    "Direct the left arm to operate the tiny matte beige toggle switch",
+    "Approach and tap the switch with a smooth top via the left arm",
+    "Trigger the hand-sized light beige switch using the left arm",
+    "Trigger the beige switch with smooth finish without referencing the left arm",
+    "Press the small trapezoid switch with the left arm",
+    "Click the small trapezoid switch directly.",
+    "Move to the beige switch with smooth finish and click it.",
+    "Press the small trapezoid switch to activate.",
+    "Locate and press the switch with brown button",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Activate the light plastic switch with robotic precision",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Press the beige switch with smooth finish via automation",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Engage the beige switch using the left arm",
+    "Engage the hand-sized light beige switch with a press.",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Activate the beige switch with smooth finish directly",
+    "Engage with the hand-sized light beige switch manually",
+    "Activate the the beige switch with smooth finish using the left arm",
+    "Initiate the switch with brown button by clicking",
+    "Use the left arm to engage the matte beige switch with flat top",
+    "Use the left arm for switching the small trapezoid switch"
+  ],
+  "unseen": [
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode24.json b/turn_switch/piper_randomized_500/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebc65f6822f3f6d5d04bf6afe4735568c41f382f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the angled switch light tan color using robotic control",
+    "Set the left arm to press the switch trapezoid shape brown marking",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Engage with the small light tan switch manually",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Use the left arm to engage the small light tan switch",
+    "Initiate the smooth tan switch with textured sides by clicking",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Engage the flat switch using the left arm",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Tap the plastic switch with angled edges to engage it",
+    "Use the left arm for switching the smooth tan switch with textured sides",
+    "Press the small light tan switch directly",
+    "Activate the angled switch light tan color by pressing it",
+    "Activate the flat switch with the left arm.",
+    "Press the switch with darker rectangle with the left arm",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Activate the tan switch via the left arm",
+    "Approach and tap the small light tan switch via the left arm",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Activate the the smooth tan switch with textured sides using the left arm",
+    "Engage the left arm to press the tan switch",
+    "Operate the left arm to engage the light tan rectangular switch smooth finish",
+    "Trigger the light tan rectangular switch smooth finish using the left arm",
+    "Push the angled switch light tan color via the left arm.",
+    "Press the flat switch using the left arm.",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Direct the left arm to operate the light tan rectangular switch smooth finish",
+    "Trigger the plastic switch with angled edges without referencing the left arm",
+    "Press the angled switch light tan color carefully with the left arm",
+    "Command the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Trigger the angled switch light tan color with precision",
+    "Operate the trapezoid-shaped switch smooth surface with the left arm",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Locate and press the angled switch light tan color",
+    "Engage the hand-sized switch tan smooth finish using the left arm.",
+    "Toggle the tan switch with the left arm.",
+    "Deploy the left arm to press the small light tan switch",
+    "Activate the smooth tan switch with textured sides directly",
+    "Engage the switch with darker rectangle with a press.",
+    "Deploy the left arm to operate the small light tan switch",
+    "Click the flat switch to activate it",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Locate and press the plastic switch with angled edges",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Use the left arm to interact with the hand-sized switch tan smooth finish",
+    "Interact with the switch with darker rectangle.",
+    "Press the flat switch using robotic control",
+    "Set the left arm to press the tan switch",
+    "Interact with the rectangular switch with slanted sides directly",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Press the smooth tan switch with textured sides to activate.",
+    "Set the switch at the switch with darker rectangle",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Use the left arm to engage the switch with darker rectangle",
+    "Initiate the small light tan switch by clicking",
+    "Click on the plastic switch with angled edges precisely",
+    "Engage the switch trapezoid shape brown marking using the left arm",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Tap the small light tan switch to engage it",
+    "Use the left arm for switching the flat switch",
+    "Press the angled switch light tan color directly",
+    "Activate the switch with darker rectangle by pressing it",
+    "Activate the tan switch with the left arm.",
+    "Press the tan switch with the left arm",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Activate the trapezoid-shaped switch smooth surface via the left arm",
+    "Approach and tap the small light tan switch via the left arm",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Activate the the switch with darker rectangle using the left arm",
+    "Engage the left arm to press the trapezoid-shaped switch smooth surface",
+    "Operate the left arm to engage the tan switch",
+    "Trigger the hand-sized switch tan smooth finish using the left arm",
+    "Push the smooth tan switch with textured sides via the left arm.",
+    "Press the switch with darker rectangle using the left arm.",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Direct the left arm to operate the flat switch",
+    "Trigger the rectangular switch with slanted sides without referencing the left arm",
+    "Press the trapezoid-shaped switch smooth surface carefully with the left arm",
+    "Command the left arm to engage the switch with darker rectangle",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Operate the tan switch with the left arm",
+    "Activate the small light tan switch with robotic precision",
+    "Locate and press the flat switch",
+    "Engage the smooth tan switch with textured sides using the left arm.",
+    "Toggle the angled switch light tan color with the left arm.",
+    "Deploy the left arm to press the flat switch",
+    "Activate the smooth tan switch with textured sides directly",
+    "Engage the flat switch with a press.",
+    "Deploy the left arm to operate the rectangular switch with slanted sides",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Move to the angled switch light tan color and click it.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Locate and press the tan switch",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Use the left arm to interact with the switch with darker rectangle",
+    "Interact with the small light tan switch."
+  ],
+  "unseen": [
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode240.json b/turn_switch/piper_randomized_500/instructions/episode240.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40c9648ecc2fb75583255d71ea0909fe99ce8c5
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode240.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the switch with brown button with precision",
+    "Engage the right arm to press the matte beige switch with flat top",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Operate the light plastic switch with the right arm",
+    "Press the switch with a smooth top to activate.",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Use the right arm for switching the switch with a smooth top",
+    "Set the right arm to press the small trapezoid switch",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Operate the right arm to engage the hand-sized light beige switch",
+    "Activate the toggle switch with brown rectangle button via the right arm",
+    "Tap the tiny matte beige toggle switch to engage it",
+    "Press the matte beige switch with flat top using the right arm.",
+    "Command the right arm to engage the beige switch with smooth finish",
+    "Push the matte beige switch with flat top via the right arm.",
+    "Trigger the matte beige switch with flat top using the right arm",
+    "Locate and press the tiny matte beige toggle switch",
+    "Deploy the right arm to operate the toggle switch with brown rectangle button",
+    "Use the right arm to interact with the beige switch",
+    "Engage the hand-sized light beige switch using the right arm",
+    "Click the tiny matte beige toggle switch directly.",
+    "Interact with the switch with rectangular dark button directly",
+    "Engage with the beige switch manually",
+    "Deploy the right arm to press the tiny matte beige toggle switch",
+    "Activate the beige switch with smooth finish with robotic precision",
+    "Press the beige switch directly",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Activate the switch with rectangular dark button directly",
+    "Activate the the tiny matte beige toggle switch using the right arm",
+    "Switch the switch with a smooth top to its active state",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Engage the hand-sized light beige switch using the right arm.",
+    "Set the switch at the matte beige switch with flat top",
+    "Direct the right arm to operate the small trapezoid switch",
+    "Click the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Click on the hand-sized light beige switch precisely",
+    "Press the switch with brown button via automation",
+    "Engage the switch with brown button with a press.",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Approach and tap the light plastic switch via the right arm",
+    "Use the right arm to engage the small trapezoid switch",
+    "Press the light plastic switch carefully with the right arm",
+    "Directly interact with the toggle switch with brown rectangle button",
+    "Press the toggle switch with brown rectangle button with the right arm",
+    "Move to the hand-sized light beige switch and click it.",
+    "Press the matte beige switch with flat top using robotic control",
+    "Trigger the hand-sized light beige switch with precision",
+    "Engage the right arm to press the small trapezoid switch",
+    "Click the beige switch with smooth finish using automated tools",
+    "Operate the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Press the light plastic switch to activate.",
+    "Locate and press the switch with a smooth top",
+    "Use the right arm for switching the hand-sized light beige switch",
+    "Set the right arm to press the beige switch",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Activate the switch with brown button with the right arm.",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Activate the switch with a smooth top via the right arm",
+    "Tap the light plastic switch to engage it",
+    "Press the small trapezoid switch using the right arm.",
+    "Command the right arm to engage the light plastic switch",
+    "Push the light plastic switch via the right arm.",
+    "Trigger the matte beige switch with flat top using the right arm",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Deploy the right arm to operate the tiny matte beige toggle switch",
+    "Use the right arm to interact with the switch with brown button",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Click the switch with rectangular dark button directly.",
+    "Interact with the light plastic switch directly",
+    "Engage with the small trapezoid switch manually",
+    "Deploy the right arm to press the toggle switch with brown rectangle button",
+    "Activate the toggle switch with brown rectangle button with robotic precision",
+    "Press the switch with brown button directly",
+    "Trigger the beige switch without referencing the right arm",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Activate the switch with brown button directly",
+    "Activate the the small trapezoid switch using the right arm",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Toggle the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Initiate the switch with rectangular dark button by clicking",
+    "Engage the light plastic switch using the right arm.",
+    "Set the switch at the hand-sized light beige switch",
+    "Direct the right arm to operate the switch with brown button",
+    "Click the switch with brown button with robotic precision",
+    "Click on the small trapezoid switch precisely",
+    "Press the hand-sized light beige switch via automation",
+    "Engage the switch with a smooth top with a press.",
+    "Click the switch with a smooth top to activate it",
+    "Approach and tap the small trapezoid switch via the right arm",
+    "Use the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Press the matte beige switch with flat top carefully with the right arm",
+    "Directly interact with the switch with rectangular dark button",
+    "Press the beige switch with the right arm",
+    "Move to the beige switch with smooth finish and click it.",
+    "Press the matte beige switch with flat top using robotic control"
+  ],
+  "unseen": [
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the small beige switch with angular sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode241.json b/turn_switch/piper_randomized_500/instructions/episode241.json
new file mode 100644
index 0000000000000000000000000000000000000000..81baed16fdd3d5cbbcf0d27b9f83b3881c181f65
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode241.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the left arm to engage the small light tan switch",
+    "Push the tan switch via the left arm.",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Operate the left arm to engage the tan switch",
+    "Engage the rectangular switch with slanted sides using the left arm.",
+    "Deploy the left arm to operate the rectangular switch with slanted sides",
+    "Press the smooth tan switch with textured sides directly",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Press the small light tan switch via automation",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Activate the tan switch with robotic precision",
+    "Engage the angled switch light tan color with a press.",
+    "Interact with the plastic switch with angled edges.",
+    "Toggle the switch with darker rectangle with the left arm.",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Press the rectangular switch with slanted sides using the left arm.",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Press the small light tan switch with the left arm",
+    "Press the smooth tan switch with textured sides carefully with the left arm",
+    "Approach and tap the switch trapezoid shape brown marking via the left arm",
+    "Use the left arm to engage the rectangular switch with slanted sides",
+    "Click the plastic switch with angled edges to activate it",
+    "Deploy the left arm to press the rectangular switch with slanted sides",
+    "Activate the flat switch by pressing it",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Use the left arm for switching the switch trapezoid shape brown marking",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Interact with the switch with darker rectangle directly",
+    "Direct the left arm to operate the switch with darker rectangle",
+    "Trigger the tan switch using the left arm",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Activate the the light tan rectangular switch smooth finish using the left arm",
+    "Operate the smooth tan switch with textured sides with the left arm",
+    "Activate the small light tan switch via the left arm",
+    "Trigger the small light tan switch without referencing the left arm",
+    "Use the left arm to interact with the small light tan switch",
+    "Tap the flat switch to engage it",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Click the angled switch light tan color directly.",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Click the angled switch light tan color with robotic precision",
+    "Engage the left arm to press the tan switch",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Click on the switch with darker rectangle precisely",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Engage the flat switch using the left arm",
+    "Set the left arm to press the small light tan switch",
+    "Command the left arm to engage the rectangular switch with slanted sides",
+    "Push the switch with darker rectangle via the left arm.",
+    "Locate and press the small light tan switch",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Operate the left arm to engage the angled switch light tan color",
+    "Engage the small light tan switch using the left arm.",
+    "Deploy the left arm to operate the switch trapezoid shape brown marking",
+    "Press the smooth tan switch with textured sides directly",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Activate the trapezoid-shaped switch smooth surface directly",
+    "Press the tan switch via automation",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Engage the rectangular switch with slanted sides with a press.",
+    "Interact with the small light tan switch.",
+    "Toggle the flat switch with the left arm.",
+    "Switch the plastic switch with angled edges to its active state",
+    "Press the switch with darker rectangle using the left arm.",
+    "Press the angled switch light tan color to activate.",
+    "Press the plastic switch with angled edges with the left arm",
+    "Press the switch with darker rectangle carefully with the left arm",
+    "Approach and tap the small light tan switch via the left arm",
+    "Use the left arm to engage the tan switch",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Deploy the left arm to press the tan switch",
+    "Activate the plastic switch with angled edges by pressing it",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Use the left arm for switching the rectangular switch with slanted sides",
+    "Activate the angled switch light tan color with the left arm.",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Interact with the flat switch directly",
+    "Direct the left arm to operate the tan switch",
+    "Trigger the tan switch using the left arm",
+    "Move to the tan switch and click it.",
+    "Activate the the tan switch using the left arm",
+    "Operate the rectangular switch with slanted sides with the left arm",
+    "Activate the rectangular switch with slanted sides via the left arm",
+    "Trigger the plastic switch with angled edges without referencing the left arm",
+    "Use the left arm to interact with the switch trapezoid shape brown marking",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Click the rectangular switch with slanted sides directly.",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Click the small light tan switch with robotic precision",
+    "Engage the left arm to press the hand-sized switch tan smooth finish",
+    "Directly interact with the angled switch light tan color",
+    "Click on the angled switch light tan color precisely",
+    "Set the switch at the plastic switch with angled edges",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Set the left arm to press the angled switch light tan color"
+  ],
+  "unseen": [
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode247.json b/turn_switch/piper_randomized_500/instructions/episode247.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f83524d84bd693ba81e7757262e4c3dc240da83
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode247.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the compact switch with flat base with robotic precision",
+    "Click the toggle switch light gray base directly.",
+    "Operate the right arm to engage the compact switch with flat base",
+    "Tap the electrical switch with protruding toggle to engage it",
+    "Set the right arm to press the control switch with red lever",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Move to the switch for electrical control and click it.",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Press the compact switch with flat base via automation",
+    "Command the right arm to engage the light gray square switch",
+    "Direct the right arm to operate the gray switch with red toggle",
+    "Interact with the plastic gray body switch.",
+    "Initiate the switch by clicking",
+    "Activate the square switch with red bar with robotic precision",
+    "Locate and press the toggle switch light gray base",
+    "Use the right arm to interact with the light gray square switch",
+    "Engage the compact switch with flat base with a press.",
+    "Press the switch for electrical control directly",
+    "Press the red bar switch using robotic control",
+    "Engage the switch for electrical control using the robotic arm",
+    "Click the square switch with red bar using automated tools",
+    "Press the switch for electrical control to activate.",
+    "Activate the the electrical switch with protruding toggle using the right arm",
+    "Deploy the right arm to press the electrical switch with protruding toggle",
+    "Press the gray switch with red toggle carefully with the right arm",
+    "Use the right arm for switching the red bar switch",
+    "Click the switch to activate it",
+    "Deploy the right arm to operate the plastic gray body switch",
+    "Activate the compact switch with flat base with the right arm.",
+    "Activate the compact switch with flat base directly",
+    "Directly interact with the light gray square switch",
+    "Switch the light gray square switch to its active state",
+    "Press the switch for electrical control using the right arm.",
+    "Engage the toggle switch light gray base using the right arm",
+    "Engage the plastic gray body switch using the right arm.",
+    "Push the compact switch with flat base via the right arm.",
+    "Trigger the plastic gray body switch using the right arm",
+    "Toggle the switch with the right arm.",
+    "Set the switch at the compact switch with flat base",
+    "Activate the gray switch with red toggle by pressing it",
+    "Click on the gray switch with red toggle precisely",
+    "Operate the square switch with red bar with the right arm",
+    "Engage with the plastic gray body switch manually",
+    "Interact with the compact switch with flat base directly",
+    "Locate and press the switch",
+    "Engage the right arm to press the red bar switch",
+    "Trigger the plastic gray body switch with precision",
+    "Use the right arm to engage the square switch with red bar",
+    "Press the toggle switch light gray base with the right arm",
+    "Activate the red bar switch via the right arm",
+    "Click the compact switch with flat base with robotic precision",
+    "Click the gray switch with red toggle directly.",
+    "Operate the right arm to engage the toggle switch light gray base",
+    "Tap the electrical switch with protruding toggle to engage it",
+    "Set the right arm to press the plastic gray body switch",
+    "Approach and tap the switch for electrical control via the right arm",
+    "Move to the plastic gray body switch and click it.",
+    "Trigger the light gray square switch without referencing the right arm",
+    "Press the gray switch with red toggle via automation",
+    "Command the right arm to engage the plastic gray body switch",
+    "Direct the right arm to operate the switch",
+    "Interact with the plastic gray body switch.",
+    "Initiate the switch by clicking",
+    "Activate the square switch with red bar with robotic precision",
+    "Locate and press the switch",
+    "Use the right arm to interact with the gray switch with red toggle",
+    "Engage the control switch with red lever with a press.",
+    "Press the toggle switch light gray base directly",
+    "Press the switch for electrical control using robotic control",
+    "Engage the compact switch with flat base using the robotic arm",
+    "Click the red bar switch using automated tools",
+    "Press the switch with thin red toggle to activate.",
+    "Activate the the compact switch with flat base using the right arm",
+    "Deploy the right arm to press the electrical switch with protruding toggle",
+    "Press the plastic gray body switch carefully with the right arm",
+    "Use the right arm for switching the light gray square switch",
+    "Click the electrical switch with protruding toggle to activate it",
+    "Deploy the right arm to operate the control switch with red lever",
+    "Activate the electrical switch with protruding toggle with the right arm.",
+    "Activate the electrical switch with protruding toggle directly",
+    "Directly interact with the compact switch with flat base",
+    "Switch the switch for electrical control to its active state",
+    "Press the toggle switch light gray base using the right arm.",
+    "Engage the light gray square switch using the right arm",
+    "Engage the switch for electrical control using the right arm.",
+    "Push the plastic gray body switch via the right arm.",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Toggle the light gray square switch with the right arm.",
+    "Set the switch at the electrical switch with protruding toggle",
+    "Activate the switch with thin red toggle by pressing it",
+    "Click on the light gray square switch precisely",
+    "Operate the switch with thin red toggle with the right arm",
+    "Engage with the switch with thin red toggle manually",
+    "Interact with the switch for electrical control directly",
+    "Locate and press the red bar switch",
+    "Engage the right arm to press the switch",
+    "Trigger the toggle switch light gray base with precision",
+    "Use the right arm to engage the switch",
+    "Press the electrical switch with protruding toggle with the right arm",
+    "Activate the control switch with red lever via the right arm"
+  ],
+  "unseen": [
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode248.json b/turn_switch/piper_randomized_500/instructions/episode248.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a80b9d8659620d8523f6ab85854a9f0db4d156
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode248.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the switch with trapezoidal base",
+    "Interact with the handheld switch directly",
+    "Operate the right arm to engage the gray base with black buttons",
+    "Operate the gray plastic switch with the right arm",
+    "Trigger the gray plastic switch without referencing the right arm",
+    "Engage the gray smooth surface switch with a press.",
+    "Press the gray switch with black buttons to activate.",
+    "Engage with the electric toggle switch manually",
+    "Click the trapezoidal base switch with robotic precision",
+    "Tap the gray plastic switch to engage it",
+    "Engage the two-button gray switch using the robotic arm",
+    "Deploy the right arm to press the medium switch with trapezoidal base",
+    "Approach and tap the trapezoidal base switch via the right arm",
+    "Click on the plastic switch with matte buttons precisely",
+    "Initiate the smooth gray switch by clicking",
+    "Set the right arm to press the electric toggle switch",
+    "Press the plastic switch with matte buttons directly",
+    "Press the plastic switch with matte buttons via automation",
+    "Press the trapezoidal base switch using the right arm.",
+    "Press the gray base with black buttons carefully with the right arm",
+    "Use the right arm to interact with the gray base with black buttons",
+    "Engage the right arm to press the gray smooth surface switch",
+    "Trigger the gray switch with black buttons with precision",
+    "Activate the smooth gray switch via the right arm",
+    "Activate the two-button gray switch by pressing it",
+    "Engage the medium switch with trapezoidal base using the right arm",
+    "Locate and press the switch with trapezoidal base",
+    "Set the switch at the gray plastic switch",
+    "Direct the right arm to operate the electric toggle switch",
+    "Click the electric toggle switch to activate it",
+    "Directly interact with the gray base with black buttons",
+    "Toggle the handheld switch with the right arm.",
+    "Press the gray plastic switch using robotic control",
+    "Activate the gray base with black buttons with the right arm.",
+    "Command the right arm to engage the plastic switch with matte buttons",
+    "Trigger the gray base with black buttons using the right arm",
+    "Locate and press the plastic switch with matte buttons",
+    "Activate the handheld switch directly",
+    "Press the gray plastic switch with the right arm",
+    "Engage the gray switch with black buttons using the right arm.",
+    "Interact with the handheld switch.",
+    "Use the right arm to engage the trapezoidal base switch",
+    "Push the gray smooth surface switch via the right arm.",
+    "Move to the electric toggle switch and click it.",
+    "Switch the two-button gray switch to its active state",
+    "Click the gray plastic switch using automated tools",
+    "Activate the the switch with trapezoidal base using the right arm",
+    "Activate the two-button gray switch with robotic precision",
+    "Use the right arm for switching the smooth gray switch",
+    "Click the gray smooth surface switch directly.",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Interact with the gray switch with black buttons directly",
+    "Operate the right arm to engage the gray smooth surface switch",
+    "Operate the smooth gray switch with the right arm",
+    "Trigger the gray plastic switch without referencing the right arm",
+    "Engage the two-button gray switch with a press.",
+    "Press the two-button gray switch to activate.",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Click the handheld switch with robotic precision",
+    "Tap the gray base with black buttons to engage it",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Deploy the right arm to press the handheld switch",
+    "Approach and tap the handheld switch via the right arm",
+    "Click on the gray base with black buttons precisely",
+    "Initiate the gray plastic switch by clicking",
+    "Set the right arm to press the gray base with black buttons",
+    "Press the smooth gray switch directly",
+    "Press the two-button gray switch via automation",
+    "Press the gray switch with black buttons using the right arm.",
+    "Press the two-button gray switch carefully with the right arm",
+    "Use the right arm to interact with the switch with trapezoidal base",
+    "Engage the right arm to press the handheld switch",
+    "Trigger the trapezoidal base switch with precision",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Activate the handheld switch by pressing it",
+    "Engage the switch with trapezoidal base using the right arm",
+    "Locate and press the switch with trapezoidal base",
+    "Set the switch at the trapezoidal base switch",
+    "Direct the right arm to operate the smooth gray switch",
+    "Click the handheld switch to activate it",
+    "Directly interact with the electric toggle switch",
+    "Toggle the two-button gray switch with the right arm.",
+    "Press the smooth gray switch using robotic control",
+    "Activate the smooth gray switch with the right arm.",
+    "Command the right arm to engage the plastic switch with matte buttons",
+    "Trigger the handheld switch using the right arm",
+    "Locate and press the switch with trapezoidal base",
+    "Activate the gray base with black buttons directly",
+    "Press the gray plastic switch with the right arm",
+    "Engage the gray switch with black buttons using the right arm.",
+    "Interact with the medium switch with trapezoidal base.",
+    "Use the right arm to engage the plastic switch with matte buttons",
+    "Push the plastic switch with matte buttons via the right arm.",
+    "Move to the plastic switch with matte buttons and click it.",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Click the handheld switch using automated tools",
+    "Activate the the two-button gray switch using the right arm",
+    "Activate the gray smooth surface switch with robotic precision",
+    "Use the right arm for switching the gray switch with black buttons",
+    "Click the smooth gray switch directly."
+  ],
+  "unseen": [
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode249.json b/turn_switch/piper_randomized_500/instructions/episode249.json
new file mode 100644
index 0000000000000000000000000000000000000000..5381a82a8597ab064d5dc2b4e8348c3937de9b03
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode249.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the red and black electrical switch using automated tools",
+    "Initiate the plastic switch with metal prongs by clicking",
+    "Deploy the right arm to operate the metal-pronged black switch",
+    "Directly interact with the smooth red switch with labels",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Locate and press the red and black electrical switch",
+    "Use the right arm for switching the tiny rectangular switch",
+    "Interact with the metal-pronged black switch directly",
+    "Push the smooth red switch with labels via the right arm.",
+    "Activate the black base switch via the right arm",
+    "Engage the small switch with red lever using the right arm",
+    "Engage the right arm to press the switch with three metal pins",
+    "Toggle the metal-pronged black switch with the right arm.",
+    "Engage with the smooth red switch with labels manually",
+    "Activate the switch for turning circuits on off by pressing it",
+    "Set the switch at the red and black electrical switch",
+    "Switch the black base switch to its active state",
+    "Press the black base switch via automation",
+    "Press the toggle switch with black housing using the right arm.",
+    "Operate the right arm to engage the two-tone red black switch",
+    "Activate the metal-pronged black switch directly",
+    "Approach and tap the rectangular switch via the right arm",
+    "Interact with the plastic switch with metal prongs.",
+    "Direct the right arm to operate the smooth red switch with labels",
+    "Trigger the black base switch with precision",
+    "Press the black base switch directly",
+    "Activate the switch with three metal pins with the right arm.",
+    "Click on the red and black electrical switch precisely",
+    "Press the black base switch with the right arm",
+    "Engage the toggle switch with black housing using the right arm.",
+    "Operate the black base switch with the right arm",
+    "Command the right arm to engage the switch with three metal pins",
+    "Activate the smooth red switch with labels with robotic precision",
+    "Tap the toggle switch with black housing to engage it",
+    "Engage the tiny rectangular switch with a press.",
+    "Click the black base switch directly.",
+    "Click the toggle switch with black housing with robotic precision",
+    "Deploy the right arm to press the switch for turning circuits on off",
+    "Use the right arm to interact with the two-tone red black switch",
+    "Engage the rectangular switch using the robotic arm",
+    "Use the right arm to engage the smooth red switch with labels",
+    "Press the smooth red switch with labels carefully with the right arm",
+    "Press the plastic switch with metal prongs to activate.",
+    "Activate the the smooth red switch with labels using the right arm",
+    "Move to the rectangular switch and click it.",
+    "Click the two-tone red black switch to activate it",
+    "Set the right arm to press the black base switch",
+    "Trigger the switch for turning circuits on off using the right arm",
+    "Locate and press the switch for turning circuits on off",
+    "Press the black base switch using robotic control",
+    "Click the two-tone red black switch using automated tools",
+    "Initiate the two-tone red black switch by clicking",
+    "Deploy the right arm to operate the smooth red switch with labels",
+    "Directly interact with the two-tone red black switch",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Locate and press the rectangular switch",
+    "Use the right arm for switching the black base switch",
+    "Interact with the smooth red switch with labels directly",
+    "Push the smooth red switch with labels via the right arm.",
+    "Activate the rectangular switch via the right arm",
+    "Engage the toggle switch with black housing using the right arm",
+    "Engage the right arm to press the black base switch",
+    "Toggle the two-tone red black switch with the right arm.",
+    "Engage with the metal-pronged black switch manually",
+    "Activate the two-tone red black switch by pressing it",
+    "Set the switch at the plastic switch with metal prongs",
+    "Switch the toggle switch with black housing to its active state",
+    "Press the toggle switch with black housing via automation",
+    "Press the two-tone red black switch using the right arm.",
+    "Operate the right arm to engage the switch for turning circuits on off",
+    "Activate the rectangular switch directly",
+    "Approach and tap the two-tone red black switch via the right arm",
+    "Interact with the switch with three metal pins.",
+    "Direct the right arm to operate the smooth red switch with labels",
+    "Trigger the metal-pronged black switch with precision",
+    "Press the plastic switch with metal prongs directly",
+    "Activate the plastic switch with metal prongs with the right arm.",
+    "Click on the black base switch precisely",
+    "Press the toggle switch with black housing with the right arm",
+    "Engage the smooth red switch with labels using the right arm.",
+    "Operate the switch with three metal pins with the right arm",
+    "Command the right arm to engage the metal-pronged black switch",
+    "Activate the plastic switch with metal prongs with robotic precision",
+    "Tap the toggle switch with black housing to engage it",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Click the switch with three metal pins directly.",
+    "Click the tiny rectangular switch with robotic precision",
+    "Deploy the right arm to press the plastic switch with metal prongs",
+    "Use the right arm to interact with the rectangular switch",
+    "Engage the small switch with red lever using the robotic arm",
+    "Use the right arm to engage the toggle switch with black housing",
+    "Press the red and black electrical switch carefully with the right arm",
+    "Press the switch with three metal pins to activate.",
+    "Activate the the red and black electrical switch using the right arm",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Click the smooth red switch with labels to activate it",
+    "Set the right arm to press the metal-pronged black switch",
+    "Trigger the plastic switch with metal prongs using the right arm",
+    "Locate and press the black base switch",
+    "Press the small switch with red lever using robotic control"
+  ],
+  "unseen": [
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Press the red toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Press the red toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode252.json b/turn_switch/piper_randomized_500/instructions/episode252.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec27a8f4992ebc681f74a461a47b279d7303591
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode252.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the left arm to engage the plastic switch with metal terminals",
+    "Click the black switch with metallic connectors directly.",
+    "Initiate the red and black switch by clicking",
+    "Engage the switch with curved red toggle using the left arm",
+    "Toggle the rectangular switch with curved lever with the left arm.",
+    "Press the rectangular switch with curved lever to activate.",
+    "Set the switch at the rectangular black plastic switch",
+    "Activate the plastic switch with metal terminals via the left arm",
+    "Click the black switch with robotic precision",
+    "Engage with the compact switch with toggle on top manually",
+    "Press the black switch using the left arm.",
+    "Trigger the switch with curved red toggle without referencing the left arm",
+    "Use the left arm for switching the compact switch with toggle on top",
+    "Directly interact with the hand-sized switch with connector prongs",
+    "Activate the red-top black switch with the left arm.",
+    "Locate and press the red-top black switch",
+    "Activate the the black switch with metallic connectors using the left arm",
+    "Switch the red and black switch to its active state",
+    "Use the left arm to interact with the plastic switch with metal terminals",
+    "Interact with the black switch with metallic connectors.",
+    "Trigger the hand-sized switch with connector prongs using the left arm",
+    "Press the red and black switch via automation",
+    "Press the switch with curved red toggle directly",
+    "Use the left arm to engage the black switch",
+    "Move to the black switch and click it.",
+    "Engage the compact switch with toggle on top with a press.",
+    "Operate the plastic switch with metal terminals with the left arm",
+    "Operate the left arm to engage the compact switch with toggle on top",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Click the switch with curved red toggle using automated tools",
+    "Press the black base switch with red toggle carefully with the left arm",
+    "Press the black base switch with red toggle with the left arm",
+    "Trigger the switch with curved red toggle with precision",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Click the black switch with metallic connectors to activate it",
+    "Deploy the left arm to operate the black switch with metallic connectors",
+    "Locate and press the switch with curved red toggle",
+    "Engage the left arm to press the small switch",
+    "Interact with the compact switch with toggle on top directly",
+    "Activate the compact switch with toggle on top by pressing it",
+    "Deploy the left arm to press the red and black switch",
+    "Engage the red and black switch using the robotic arm",
+    "Approach and tap the hand-sized switch with connector prongs via the left arm",
+    "Set the left arm to press the red and black switch",
+    "Direct the left arm to operate the red-top black switch",
+    "Press the small switch using robotic control",
+    "Push the small switch via the left arm.",
+    "Engage the compact switch with toggle on top using the left arm.",
+    "Activate the black switch directly",
+    "Click on the compact switch with toggle on top precisely",
+    "Command the left arm to engage the switch with curved red toggle",
+    "Click the compact switch with toggle on top directly.",
+    "Initiate the plastic switch with metal terminals by clicking",
+    "Engage the compact switch with toggle on top using the left arm",
+    "Toggle the small switch with the left arm.",
+    "Press the red and black switch to activate.",
+    "Set the switch at the switch with curved red toggle",
+    "Activate the black switch with metallic connectors via the left arm",
+    "Click the black base switch with red toggle with robotic precision",
+    "Engage with the compact switch with toggle on top manually",
+    "Press the rectangular switch with curved lever using the left arm.",
+    "Trigger the rectangular black plastic switch without referencing the left arm",
+    "Use the left arm for switching the black base switch with red toggle",
+    "Directly interact with the red and black switch",
+    "Activate the switch with curved red toggle with the left arm.",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Activate the the switch with curved red toggle using the left arm",
+    "Switch the black switch with metallic connectors to its active state",
+    "Use the left arm to interact with the black base switch with red toggle",
+    "Interact with the plastic switch with metal terminals.",
+    "Trigger the switch with curved red toggle using the left arm",
+    "Press the black base switch with red toggle via automation",
+    "Press the rectangular switch with curved lever directly",
+    "Use the left arm to engage the hand-sized switch with connector prongs",
+    "Move to the rectangular switch with curved lever and click it.",
+    "Engage the black switch with metallic connectors with a press.",
+    "Operate the hand-sized switch with connector prongs with the left arm",
+    "Operate the left arm to engage the red and black switch",
+    "Activate the red-top black switch with robotic precision",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Press the black base switch with red toggle carefully with the left arm",
+    "Press the black switch with the left arm",
+    "Trigger the switch with curved red toggle with precision",
+    "Tap the rectangular black plastic switch to engage it",
+    "Click the red and black switch to activate it",
+    "Deploy the left arm to operate the hand-sized switch with connector prongs",
+    "Locate and press the rectangular switch with curved lever",
+    "Engage the left arm to press the red and black switch",
+    "Interact with the rectangular switch with curved lever directly",
+    "Activate the black base switch with red toggle by pressing it",
+    "Deploy the left arm to press the black switch",
+    "Engage the compact switch with toggle on top using the robotic arm",
+    "Approach and tap the black base switch with red toggle via the left arm",
+    "Set the left arm to press the switch with curved red toggle",
+    "Direct the left arm to operate the red-top black switch",
+    "Press the red and black switch using robotic control",
+    "Push the red-top black switch via the left arm.",
+    "Engage the plastic switch with metal terminals using the left arm.",
+    "Activate the rectangular black plastic switch directly",
+    "Click on the compact switch with toggle on top precisely"
+  ],
+  "unseen": [
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode254.json b/turn_switch/piper_randomized_500/instructions/episode254.json
new file mode 100644
index 0000000000000000000000000000000000000000..e89756b9d5cb03737feab7ecee64fd325c849cdd
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode254.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the medium switch with trapezoidal base",
+    "Trigger the trapezoidal base switch using the right arm",
+    "Engage the gray base with black buttons with a press.",
+    "Interact with the medium switch with trapezoidal base directly",
+    "Use the right arm to engage the gray plastic switch",
+    "Engage with the handheld switch manually",
+    "Set the right arm to press the two-button gray switch",
+    "Engage the right arm to press the gray smooth surface switch",
+    "Activate the the two-button gray switch using the right arm",
+    "Set the switch at the plastic switch with matte buttons",
+    "Click the electric toggle switch directly.",
+    "Use the right arm for switching the medium switch with trapezoidal base",
+    "Activate the gray base with black buttons by pressing it",
+    "Press the gray smooth surface switch using robotic control",
+    "Operate the gray smooth surface switch with the right arm",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Click the handheld switch to activate it",
+    "Trigger the gray smooth surface switch with precision",
+    "Press the gray base with black buttons carefully with the right arm",
+    "Interact with the gray base with black buttons.",
+    "Directly interact with the plastic switch with matte buttons",
+    "Switch the gray plastic switch to its active state",
+    "Press the two-button gray switch directly",
+    "Engage the plastic switch with matte buttons using the right arm.",
+    "Approach and tap the gray plastic switch via the right arm",
+    "Click the smooth gray switch using automated tools",
+    "Locate and press the medium switch with trapezoidal base",
+    "Activate the medium switch with trapezoidal base directly",
+    "Click the medium switch with trapezoidal base with robotic precision",
+    "Command the right arm to engage the smooth gray switch",
+    "Push the medium switch with trapezoidal base via the right arm.",
+    "Click on the medium switch with trapezoidal base precisely",
+    "Use the right arm to interact with the gray base with black buttons",
+    "Press the gray smooth surface switch with the right arm",
+    "Press the switch with trapezoidal base to activate.",
+    "Trigger the two-button gray switch without referencing the right arm",
+    "Tap the smooth gray switch to engage it",
+    "Locate and press the switch with trapezoidal base",
+    "Initiate the gray switch with black buttons by clicking",
+    "Toggle the switch with trapezoidal base with the right arm.",
+    "Press the gray plastic switch using the right arm.",
+    "Deploy the right arm to operate the two-button gray switch",
+    "Press the smooth gray switch via automation",
+    "Engage the electric toggle switch using the right arm",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Activate the electric toggle switch with robotic precision",
+    "Deploy the right arm to press the handheld switch",
+    "Activate the two-button gray switch with the right arm.",
+    "Move to the trapezoidal base switch and click it.",
+    "Direct the right arm to operate the trapezoidal base switch",
+    "Operate the right arm to engage the gray base with black buttons",
+    "Trigger the trapezoidal base switch using the right arm",
+    "Engage the smooth gray switch with a press.",
+    "Interact with the electric toggle switch directly",
+    "Use the right arm to engage the gray plastic switch",
+    "Engage with the handheld switch manually",
+    "Set the right arm to press the gray switch with black buttons",
+    "Engage the right arm to press the plastic switch with matte buttons",
+    "Activate the the handheld switch using the right arm",
+    "Set the switch at the two-button gray switch",
+    "Click the electric toggle switch directly.",
+    "Use the right arm for switching the gray plastic switch",
+    "Activate the handheld switch by pressing it",
+    "Press the switch with trapezoidal base using robotic control",
+    "Operate the gray plastic switch with the right arm",
+    "Engage the gray plastic switch using the robotic arm",
+    "Click the two-button gray switch to activate it",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Press the gray smooth surface switch carefully with the right arm",
+    "Interact with the gray switch with black buttons.",
+    "Directly interact with the trapezoidal base switch",
+    "Switch the gray plastic switch to its active state",
+    "Press the plastic switch with matte buttons directly",
+    "Engage the two-button gray switch using the right arm.",
+    "Approach and tap the switch with trapezoidal base via the right arm",
+    "Click the gray base with black buttons using automated tools",
+    "Locate and press the two-button gray switch",
+    "Activate the smooth gray switch directly",
+    "Click the smooth gray switch with robotic precision",
+    "Command the right arm to engage the gray smooth surface switch",
+    "Push the gray base with black buttons via the right arm.",
+    "Click on the gray smooth surface switch precisely",
+    "Use the right arm to interact with the medium switch with trapezoidal base",
+    "Press the smooth gray switch with the right arm",
+    "Press the handheld switch to activate.",
+    "Trigger the gray switch with black buttons without referencing the right arm",
+    "Tap the gray switch with black buttons to engage it",
+    "Locate and press the handheld switch",
+    "Initiate the gray plastic switch by clicking",
+    "Toggle the handheld switch with the right arm.",
+    "Press the gray switch with black buttons using the right arm.",
+    "Deploy the right arm to operate the two-button gray switch",
+    "Press the handheld switch via automation",
+    "Engage the two-button gray switch using the right arm",
+    "Activate the plastic switch with matte buttons via the right arm",
+    "Activate the medium switch with trapezoidal base with robotic precision",
+    "Deploy the right arm to press the gray plastic switch",
+    "Activate the switch with trapezoidal base with the right arm.",
+    "Move to the handheld switch and click it.",
+    "Direct the right arm to operate the medium switch with trapezoidal base"
+  ],
+  "unseen": [
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode257.json b/turn_switch/piper_randomized_500/instructions/episode257.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc4e2bed075b4f7307a009a87a952d0f56b874e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode257.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Engage the switch for electrical control with a press.",
+    "Press the switch with smooth light gray finish with the left arm",
+    "Activate the switch with rectangular raised area via the left arm",
+    "Activate the small square switch with robotic precision",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Command the left arm to engage the switch with smooth light gray finish",
+    "Click the switch for electrical control directly.",
+    "Locate and press the light gray plastic switch",
+    "Trigger the angled-edge gray square switch without referencing the left arm",
+    "Press the light gray plastic switch using the left arm.",
+    "Press the square gray switch panel directly",
+    "Set the switch at the flat square with raised center",
+    "Toggle the smooth gray switch with the left arm.",
+    "Interact with the palm-sized light gray switch directly",
+    "Directly interact with the light gray plastic switch",
+    "Engage the flat square with raised center using the left arm",
+    "Locate and press the palm-sized light gray switch",
+    "Engage the square gray switch panel using the robotic arm",
+    "Press the square switch with smooth surface via automation",
+    "Engage with the palm-sized light gray switch manually",
+    "Interact with the light gray plastic switch.",
+    "Trigger the light gray plastic switch with precision",
+    "Press the light gray plastic switch carefully with the left arm",
+    "Use the left arm to interact with the square switch with smooth surface",
+    "Move to the smooth gray switch and click it.",
+    "Push the switch with rectangular raised area via the left arm.",
+    "Operate the angled-edge gray square switch with the left arm",
+    "Set the left arm to press the flat square with raised center",
+    "Use the left arm to engage the switch with smooth light gray finish",
+    "Click the square gray switch panel to activate it",
+    "Activate the the small square switch using the left arm",
+    "Deploy the left arm to press the switch for electrical control",
+    "Activate the palm-sized light gray switch directly",
+    "Click the square gray switch panel with robotic precision",
+    "Activate the smooth gray switch with the left arm.",
+    "Direct the left arm to operate the square gray switch panel",
+    "Press the square gray switch panel to activate.",
+    "Click the square gray switch panel using automated tools",
+    "Press the light gray plastic switch using robotic control",
+    "Use the left arm for switching the switch with smooth light gray finish",
+    "Activate the small square switch by pressing it",
+    "Tap the angled-edge gray square switch to engage it",
+    "Trigger the small square switch using the left arm",
+    "Click on the square switch with smooth surface precisely",
+    "Initiate the square gray switch panel by clicking",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Switch the light gray plastic switch to its active state",
+    "Approach and tap the palm-sized light gray switch via the left arm",
+    "Engage the smooth gray switch using the left arm.",
+    "Operate the left arm to engage the smooth gray switch",
+    "Engage the square switch with smooth surface with a press.",
+    "Press the square switch with smooth surface with the left arm",
+    "Activate the switch with smooth light gray finish via the left arm",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Deploy the left arm to operate the switch with rectangular raised area",
+    "Command the left arm to engage the square switch with smooth surface",
+    "Click the square switch with smooth surface directly.",
+    "Locate and press the square gray switch panel",
+    "Trigger the small square switch without referencing the left arm",
+    "Press the flat square with raised center using the left arm.",
+    "Press the palm-sized light gray switch directly",
+    "Set the switch at the flat square with raised center",
+    "Toggle the switch for electrical control with the left arm.",
+    "Interact with the smooth gray switch directly",
+    "Directly interact with the angled-edge gray square switch",
+    "Engage the small square switch using the left arm",
+    "Locate and press the switch with smooth light gray finish",
+    "Engage the smooth gray switch using the robotic arm",
+    "Press the angled-edge gray square switch via automation",
+    "Engage with the switch with smooth light gray finish manually",
+    "Interact with the small square switch made of plastic.",
+    "Trigger the small square switch with precision",
+    "Press the palm-sized light gray switch carefully with the left arm",
+    "Use the left arm to interact with the switch with rectangular raised area",
+    "Move to the flat square with raised center and click it.",
+    "Push the switch for electrical control via the left arm.",
+    "Operate the angled-edge gray square switch with the left arm",
+    "Set the left arm to press the switch for electrical control",
+    "Use the left arm to engage the light gray plastic switch",
+    "Click the angled-edge gray square switch to activate it",
+    "Activate the the switch with smooth light gray finish using the left arm",
+    "Deploy the left arm to press the small square switch",
+    "Activate the smooth gray switch directly",
+    "Click the palm-sized light gray switch with robotic precision",
+    "Activate the angled-edge gray square switch with the left arm.",
+    "Direct the left arm to operate the palm-sized light gray switch",
+    "Press the light gray plastic switch to activate.",
+    "Click the square gray switch panel using automated tools",
+    "Press the small square switch made of plastic using robotic control",
+    "Use the left arm for switching the palm-sized light gray switch",
+    "Activate the light gray plastic switch by pressing it",
+    "Tap the switch for electrical control to engage it",
+    "Trigger the smooth gray switch using the left arm",
+    "Click on the smooth gray switch precisely",
+    "Initiate the smooth gray switch by clicking",
+    "Engage the left arm to press the palm-sized light gray switch",
+    "Switch the square switch with smooth surface to its active state",
+    "Approach and tap the angled-edge gray square switch via the left arm",
+    "Engage the light gray plastic switch using the left arm."
+  ],
+  "unseen": [
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode260.json b/turn_switch/piper_randomized_500/instructions/episode260.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb90ef168d158f5aa4dd314a4a0b009cda73e33
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode260.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the flat square with raised center",
+    "Set the left arm to press the switch with rectangular raised area",
+    "Use the left arm to interact with the square gray switch panel",
+    "Activate the the switch for electrical control using the left arm",
+    "Set the switch at the small square switch made of plastic",
+    "Locate and press the switch for electrical control",
+    "Locate and press the small square switch",
+    "Click the flat square with raised center using automated tools",
+    "Engage the switch with smooth light gray finish using the robotic arm",
+    "Command the left arm to engage the small square switch",
+    "Press the small square switch made of plastic with the left arm",
+    "Activate the smooth gray switch via the left arm",
+    "Press the smooth gray switch via automation",
+    "Press the flat square with raised center using robotic control",
+    "Direct the left arm to operate the switch for electrical control",
+    "Trigger the square switch with smooth surface using the left arm",
+    "Press the palm-sized light gray switch to activate.",
+    "Activate the switch for electrical control directly",
+    "Trigger the switch for electrical control without referencing the left arm",
+    "Initiate the square gray switch panel by clicking",
+    "Deploy the left arm to press the flat square with raised center",
+    "Click on the angled-edge gray square switch precisely",
+    "Switch the small square switch made of plastic to its active state",
+    "Activate the palm-sized light gray switch with robotic precision",
+    "Activate the smooth gray switch with the left arm.",
+    "Use the left arm to engage the flat square with raised center",
+    "Operate the left arm to engage the switch with smooth light gray finish",
+    "Deploy the left arm to operate the angled-edge gray square switch",
+    "Tap the small square switch made of plastic to engage it",
+    "Engage the palm-sized light gray switch using the left arm",
+    "Operate the switch for electrical control with the left arm",
+    "Engage with the flat square with raised center manually",
+    "Toggle the square gray switch panel with the left arm.",
+    "Move to the switch for electrical control and click it.",
+    "Press the palm-sized light gray switch using the left arm.",
+    "Press the small square switch directly",
+    "Use the left arm for switching the palm-sized light gray switch",
+    "Interact with the small square switch made of plastic directly",
+    "Click the square gray switch panel directly.",
+    "Click the light gray plastic switch with robotic precision",
+    "Approach and tap the palm-sized light gray switch via the left arm",
+    "Interact with the angled-edge gray square switch.",
+    "Click the small square switch to activate it",
+    "Activate the light gray plastic switch by pressing it",
+    "Engage the left arm to press the smooth gray switch",
+    "Engage the flat square with raised center with a press.",
+    "Engage the smooth gray switch using the left arm.",
+    "Push the angled-edge gray square switch via the left arm.",
+    "Press the small square switch made of plastic carefully with the left arm",
+    "Trigger the switch with rectangular raised area with precision",
+    "Directly interact with the light gray plastic switch",
+    "Set the left arm to press the switch with rectangular raised area",
+    "Use the left arm to interact with the square switch with smooth surface",
+    "Activate the the small square switch using the left arm",
+    "Set the switch at the angled-edge gray square switch",
+    "Locate and press the light gray plastic switch",
+    "Locate and press the small square switch made of plastic",
+    "Click the palm-sized light gray switch using automated tools",
+    "Engage the angled-edge gray square switch using the robotic arm",
+    "Command the left arm to engage the angled-edge gray square switch",
+    "Press the palm-sized light gray switch with the left arm",
+    "Activate the square switch with smooth surface via the left arm",
+    "Press the square switch with smooth surface via automation",
+    "Press the smooth gray switch using robotic control",
+    "Direct the left arm to operate the small square switch",
+    "Trigger the light gray plastic switch using the left arm",
+    "Press the light gray plastic switch to activate.",
+    "Activate the flat square with raised center directly",
+    "Trigger the small square switch without referencing the left arm",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Deploy the left arm to press the light gray plastic switch",
+    "Click on the light gray plastic switch precisely",
+    "Switch the square gray switch panel to its active state",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Activate the square switch with smooth surface with the left arm.",
+    "Use the left arm to engage the smooth gray switch",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Deploy the left arm to operate the switch with smooth light gray finish",
+    "Tap the small square switch made of plastic to engage it",
+    "Engage the angled-edge gray square switch using the left arm",
+    "Operate the switch for electrical control with the left arm",
+    "Engage with the square gray switch panel manually",
+    "Toggle the light gray plastic switch with the left arm.",
+    "Move to the switch for electrical control and click it.",
+    "Press the smooth gray switch using the left arm.",
+    "Press the switch with rectangular raised area directly",
+    "Use the left arm for switching the angled-edge gray square switch",
+    "Interact with the light gray plastic switch directly",
+    "Click the small square switch made of plastic directly.",
+    "Click the flat square with raised center with robotic precision",
+    "Approach and tap the small square switch via the left arm",
+    "Interact with the palm-sized light gray switch.",
+    "Click the small square switch to activate it",
+    "Activate the switch for electrical control by pressing it",
+    "Engage the left arm to press the square gray switch panel",
+    "Engage the switch for electrical control with a press.",
+    "Engage the switch for electrical control using the left arm.",
+    "Push the square gray switch panel via the left arm.",
+    "Press the switch for electrical control carefully with the left arm",
+    "Trigger the switch for electrical control with precision"
+  ],
+  "unseen": [
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Use the left arm to press the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the flat gray switch using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Use the left arm to press the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the flat gray switch using the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Use the left arm to press the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Press the flat gray switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode262.json b/turn_switch/piper_randomized_500/instructions/episode262.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eeee904f2e497cc53457697917e88a184d308c9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode262.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the black switch via automation",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Command the right arm to engage the compact rectangular black switch",
+    "Deploy the right arm to operate the control switch",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Interact with the slanted-edge plastic black switch directly",
+    "Click the switch with slanted sides using automated tools",
+    "Operate the right arm to engage the black switch with matte coating",
+    "Deploy the right arm to press the sleek black rectangular switch",
+    "Trigger the black switch with slim profile using the right arm",
+    "Activate the palm-sized black switch via the right arm",
+    "Activate the the black rectangular control switch using the right arm",
+    "Click the black rectangular control switch directly.",
+    "Trigger the black switch with matte coating without referencing the right arm",
+    "Engage with the black rectangular control switch manually",
+    "Directly interact with the black rectangular control switch",
+    "Engage the medium-sized black rectangular switch using the right arm.",
+    "Engage the control switch using the right arm",
+    "Toggle the black switch with slim profile with the right arm.",
+    "Activate the black rectangular control switch with the right arm.",
+    "Trigger the compact rectangular black switch with precision",
+    "Use the right arm for switching the rectangular switch with smooth surface",
+    "Press the switch with slanted sides directly",
+    "Operate the black rectangular control switch with the right arm",
+    "Interact with the slanted-edge plastic black switch.",
+    "Press the rectangular switch with smooth surface with the right arm",
+    "Switch the switch with slanted sides to its active state",
+    "Push the compact rectangular black switch via the right arm.",
+    "Click on the medium-sized black rectangular switch precisely",
+    "Click the sleek black rectangular switch to activate it",
+    "Activate the medium-sized black rectangular switch with robotic precision",
+    "Click the rectangular switch with smooth surface with robotic precision",
+    "Activate the switch with slanted sides directly",
+    "Press the medium-sized black rectangular switch carefully with the right arm",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Activate the black switch by pressing it",
+    "Move to the rectangular switch with smooth surface and click it.",
+    "Press the black switch with slim profile using the right arm.",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Press the compact rectangular black switch using robotic control",
+    "Set the switch at the switch with slanted sides",
+    "Use the right arm to engage the palm-sized black switch",
+    "Press the palm-sized black switch to activate.",
+    "Initiate the black switch by clicking",
+    "Direct the right arm to operate the black rectangular control switch",
+    "Locate and press the black switch with slim profile",
+    "Tap the black switch with slim profile to engage it",
+    "Engage the slanted-edge plastic black switch with a press.",
+    "Engage the right arm to press the black switch",
+    "Locate and press the switch with slanted sides",
+    "Press the medium-sized black rectangular switch via automation",
+    "Approach and tap the control switch via the right arm",
+    "Command the right arm to engage the black switch with slim profile",
+    "Deploy the right arm to operate the switch with slanted sides",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Interact with the black switch directly",
+    "Click the black switch with slim profile using automated tools",
+    "Operate the right arm to engage the black switch",
+    "Deploy the right arm to press the black switch with slim profile",
+    "Trigger the medium-sized black rectangular switch using the right arm",
+    "Activate the black switch with slim profile via the right arm",
+    "Activate the the black switch with slim profile using the right arm",
+    "Click the black rectangular control switch directly.",
+    "Trigger the medium-sized black rectangular switch without referencing the right arm",
+    "Engage with the switch with slanted sides manually",
+    "Directly interact with the sleek black rectangular switch",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Engage the switch with slanted sides using the right arm",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Activate the black switch with matte coating with the right arm.",
+    "Trigger the black switch with matte coating with precision",
+    "Use the right arm for switching the black rectangular control switch",
+    "Press the black switch with slim profile directly",
+    "Operate the black switch with matte coating with the right arm",
+    "Interact with the sleek black rectangular switch.",
+    "Press the medium-sized black rectangular switch with the right arm",
+    "Switch the black switch with matte coating to its active state",
+    "Push the compact rectangular black switch via the right arm.",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Click the black rectangular control switch to activate it",
+    "Activate the medium-sized black rectangular switch with robotic precision",
+    "Click the compact rectangular black switch with robotic precision",
+    "Activate the black switch with matte coating directly",
+    "Press the black rectangular control switch carefully with the right arm",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Activate the control switch by pressing it",
+    "Move to the compact rectangular black switch and click it.",
+    "Press the slanted-edge plastic black switch using the right arm.",
+    "Set the right arm to press the black switch with slim profile",
+    "Press the switch with slanted sides using robotic control",
+    "Set the switch at the black switch with matte coating",
+    "Use the right arm to engage the black switch with slim profile",
+    "Press the rectangular switch with smooth surface to activate.",
+    "Initiate the medium-sized black rectangular switch by clicking",
+    "Direct the right arm to operate the black switch with slim profile",
+    "Locate and press the palm-sized black switch",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Engage the medium-sized black rectangular switch with a press.",
+    "Engage the right arm to press the switch with slanted sides",
+    "Locate and press the compact rectangular black switch"
+  ],
+  "unseen": [
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Direct the right arm to click the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode263.json b/turn_switch/piper_randomized_500/instructions/episode263.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d1006a595266d641dd1f86ffb7c3a51e3e3597
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode263.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Activate the switch with darker rectangle with the left arm.",
+    "Press the small light tan switch using the left arm.",
+    "Deploy the left arm to press the flat switch",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Trigger the flat switch using the left arm",
+    "Direct the left arm to operate the smooth tan switch with textured sides",
+    "Press the switch with darker rectangle via automation",
+    "Deploy the left arm to operate the flat switch",
+    "Press the plastic switch with angled edges directly",
+    "Tap the switch with darker rectangle to engage it",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Set the switch at the plastic switch with angled edges",
+    "Approach and tap the trapezoid-shaped switch smooth surface via the left arm",
+    "Switch the tan switch to its active state",
+    "Engage with the flat switch manually",
+    "Press the angled switch light tan color to activate.",
+    "Locate and press the smooth tan switch with textured sides",
+    "Operate the left arm to engage the rectangular switch with slanted sides",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Initiate the plastic switch with angled edges by clicking",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Use the left arm for switching the small light tan switch",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Engage the left arm to press the trapezoid-shaped switch smooth surface",
+    "Use the left arm to interact with the smooth tan switch with textured sides",
+    "Use the left arm to engage the smooth tan switch with textured sides",
+    "Move to the small light tan switch and click it.",
+    "Set the left arm to press the plastic switch with angled edges",
+    "Command the left arm to engage the small light tan switch",
+    "Toggle the smooth tan switch with textured sides with the left arm.",
+    "Activate the tan switch by pressing it",
+    "Push the flat switch via the left arm.",
+    "Operate the switch trapezoid shape brown marking with the left arm",
+    "Press the rectangular switch with slanted sides with the left arm",
+    "Activate the the rectangular switch with slanted sides using the left arm",
+    "Engage the light tan rectangular switch smooth finish using the left arm.",
+    "Activate the switch with darker rectangle via the left arm",
+    "Click the angled switch light tan color with robotic precision",
+    "Engage the tan switch with a press.",
+    "Interact with the small light tan switch.",
+    "Engage the tan switch using the left arm",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Press the rectangular switch with slanted sides carefully with the left arm",
+    "Trigger the tan switch with precision",
+    "Trigger the small light tan switch without referencing the left arm",
+    "Locate and press the rectangular switch with slanted sides",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Activate the switch with darker rectangle with the left arm.",
+    "Press the light tan rectangular switch smooth finish using the left arm.",
+    "Deploy the left arm to press the small light tan switch",
+    "Activate the flat switch with robotic precision",
+    "Trigger the rectangular switch with slanted sides using the left arm",
+    "Direct the left arm to operate the small light tan switch",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Deploy the left arm to operate the light tan rectangular switch smooth finish",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Tap the switch trapezoid shape brown marking to engage it",
+    "Directly interact with the angled switch light tan color",
+    "Set the switch at the small light tan switch",
+    "Approach and tap the hand-sized switch tan smooth finish via the left arm",
+    "Switch the rectangular switch with slanted sides to its active state",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Press the tan switch to activate.",
+    "Locate and press the rectangular switch with slanted sides",
+    "Operate the left arm to engage the switch trapezoid shape brown marking",
+    "Activate the trapezoid-shaped switch smooth surface directly",
+    "Click the light tan rectangular switch smooth finish to activate it",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Use the left arm for switching the tan switch",
+    "Click the flat switch directly.",
+    "Click the flat switch using automated tools",
+    "Engage the left arm to press the plastic switch with angled edges",
+    "Use the left arm to interact with the smooth tan switch with textured sides",
+    "Use the left arm to engage the light tan rectangular switch smooth finish",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Set the left arm to press the small light tan switch",
+    "Command the left arm to engage the plastic switch with angled edges",
+    "Toggle the flat switch with the left arm.",
+    "Activate the angled switch light tan color by pressing it",
+    "Push the rectangular switch with slanted sides via the left arm.",
+    "Operate the switch with darker rectangle with the left arm",
+    "Press the trapezoid-shaped switch smooth surface with the left arm",
+    "Activate the the smooth tan switch with textured sides using the left arm",
+    "Engage the smooth tan switch with textured sides using the left arm.",
+    "Activate the light tan rectangular switch smooth finish via the left arm",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Engage the tan switch with a press.",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Engage the smooth tan switch with textured sides using the left arm",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Press the small light tan switch carefully with the left arm",
+    "Trigger the smooth tan switch with textured sides with precision",
+    "Trigger the tan switch without referencing the left arm"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Direct the left arm to click the small flat switch tan top",
+    "Move and click the the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode266.json b/turn_switch/piper_randomized_500/instructions/episode266.json
new file mode 100644
index 0000000000000000000000000000000000000000..7056fdbf13edaf5e8a3381d5b483921bfd59a0b1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode266.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Approach and tap the small switch with red lever via the left arm",
+    "Trigger the black base switch without referencing the left arm",
+    "Press the red and black electrical switch via automation",
+    "Initiate the smooth red switch with labels by clicking",
+    "Locate and press the plastic switch with metal prongs",
+    "Press the rectangular switch using robotic control",
+    "Tap the switch with three metal pins to engage it",
+    "Interact with the switch with three metal pins.",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Use the left arm to engage the metal-pronged black switch",
+    "Press the switch with three metal pins directly",
+    "Deploy the left arm to operate the switch with three metal pins",
+    "Activate the two-tone red black switch with robotic precision",
+    "Use the left arm to interact with the metal-pronged black switch",
+    "Activate the plastic switch with metal prongs with the left arm.",
+    "Engage the two-tone red black switch with a press.",
+    "Click on the switch with three metal pins precisely",
+    "Activate the two-tone red black switch by pressing it",
+    "Press the tiny rectangular switch with the left arm",
+    "Directly interact with the metal-pronged black switch",
+    "Engage the red and black electrical switch using the left arm.",
+    "Activate the small switch with red lever via the left arm",
+    "Engage the left arm to press the metal-pronged black switch",
+    "Press the plastic switch with metal prongs using the left arm.",
+    "Locate and press the metal-pronged black switch",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Click the smooth red switch with labels directly.",
+    "Set the left arm to press the small switch with red lever",
+    "Toggle the tiny rectangular switch with the left arm.",
+    "Command the left arm to engage the black base switch",
+    "Use the left arm for switching the tiny rectangular switch",
+    "Activate the small switch with red lever directly",
+    "Click the black base switch using automated tools",
+    "Switch the two-tone red black switch to its active state",
+    "Activate the the switch for turning circuits on off using the left arm",
+    "Engage with the black base switch manually",
+    "Engage the plastic switch with metal prongs using the left arm",
+    "Click the metal-pronged black switch to activate it",
+    "Trigger the switch for turning circuits on off with precision",
+    "Move to the switch for turning circuits on off and click it.",
+    "Deploy the left arm to press the smooth red switch with labels",
+    "Press the two-tone red black switch to activate.",
+    "Interact with the metal-pronged black switch directly",
+    "Direct the left arm to operate the black base switch",
+    "Operate the left arm to engage the tiny rectangular switch",
+    "Set the switch at the small switch with red lever",
+    "Click the plastic switch with metal prongs with robotic precision",
+    "Engage the tiny rectangular switch using the robotic arm",
+    "Push the plastic switch with metal prongs via the left arm.",
+    "Trigger the black base switch using the left arm",
+    "Approach and tap the metal-pronged black switch via the left arm",
+    "Trigger the plastic switch with metal prongs without referencing the left arm",
+    "Press the two-tone red black switch via automation",
+    "Initiate the two-tone red black switch by clicking",
+    "Locate and press the smooth red switch with labels",
+    "Press the plastic switch with metal prongs using robotic control",
+    "Tap the black base switch to engage it",
+    "Interact with the small switch with red lever.",
+    "Operate the smooth red switch with labels with the left arm",
+    "Use the left arm to engage the metal-pronged black switch",
+    "Press the two-tone red black switch directly",
+    "Deploy the left arm to operate the switch with three metal pins",
+    "Activate the toggle switch with black housing with robotic precision",
+    "Use the left arm to interact with the plastic switch with metal prongs",
+    "Activate the small switch with red lever with the left arm.",
+    "Engage the small switch with red lever with a press.",
+    "Click on the tiny rectangular switch precisely",
+    "Activate the metal-pronged black switch by pressing it",
+    "Press the smooth red switch with labels with the left arm",
+    "Directly interact with the smooth red switch with labels",
+    "Engage the smooth red switch with labels using the left arm.",
+    "Activate the small switch with red lever via the left arm",
+    "Engage the left arm to press the red and black electrical switch",
+    "Press the switch with three metal pins using the left arm.",
+    "Locate and press the red and black electrical switch",
+    "Press the smooth red switch with labels carefully with the left arm",
+    "Click the toggle switch with black housing directly.",
+    "Set the left arm to press the switch for turning circuits on off",
+    "Toggle the tiny rectangular switch with the left arm.",
+    "Command the left arm to engage the tiny rectangular switch",
+    "Use the left arm for switching the smooth red switch with labels",
+    "Activate the switch with three metal pins directly",
+    "Click the switch for turning circuits on off using automated tools",
+    "Switch the tiny rectangular switch to its active state",
+    "Activate the the switch for turning circuits on off using the left arm",
+    "Engage with the metal-pronged black switch manually",
+    "Engage the tiny rectangular switch using the left arm",
+    "Click the switch with three metal pins to activate it",
+    "Trigger the tiny rectangular switch with precision",
+    "Move to the red and black electrical switch and click it.",
+    "Deploy the left arm to press the rectangular switch",
+    "Press the small switch with red lever to activate.",
+    "Interact with the toggle switch with black housing directly",
+    "Direct the left arm to operate the plastic switch with metal prongs",
+    "Operate the left arm to engage the switch with three metal pins",
+    "Set the switch at the red and black electrical switch",
+    "Click the small switch with red lever with robotic precision",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Push the rectangular switch via the left arm.",
+    "Trigger the small switch with red lever using the left arm"
+  ],
+  "unseen": [
+    "Click the red toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Direct the left arm to click the red toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode267.json b/turn_switch/piper_randomized_500/instructions/episode267.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9ea91c2dcef01afa4cf674d6cb65e46950b260
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode267.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Set the right arm to press the black switch",
+    "Directly interact with the black base switch with red toggle",
+    "Activate the rectangular black plastic switch by pressing it",
+    "Deploy the right arm to press the compact switch with toggle on top",
+    "Press the rectangular black plastic switch to activate.",
+    "Trigger the hand-sized switch with connector prongs with precision",
+    "Click the plastic switch with metal terminals with robotic precision",
+    "Press the rectangular switch with curved lever carefully with the right arm",
+    "Trigger the red-top black switch without referencing the right arm",
+    "Locate and press the rectangular switch with curved lever",
+    "Initiate the black switch by clicking",
+    "Operate the right arm to engage the red-top black switch",
+    "Engage the black switch using the robotic arm",
+    "Activate the plastic switch with metal terminals via the right arm",
+    "Activate the compact switch with toggle on top directly",
+    "Toggle the compact switch with toggle on top with the right arm.",
+    "Use the right arm to engage the black switch",
+    "Interact with the black base switch with red toggle directly",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Push the rectangular black plastic switch via the right arm.",
+    "Use the right arm to interact with the rectangular switch with curved lever",
+    "Move to the red and black switch and click it.",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Engage the hand-sized switch with connector prongs using the right arm.",
+    "Activate the the black base switch with red toggle using the right arm",
+    "Activate the small switch with robotic precision",
+    "Engage the right arm to press the black base switch with red toggle",
+    "Interact with the compact switch with toggle on top.",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Trigger the hand-sized switch with connector prongs using the right arm",
+    "Press the hand-sized switch with connector prongs via automation",
+    "Press the rectangular black plastic switch directly",
+    "Engage with the red and black switch manually",
+    "Operate the red and black switch with the right arm",
+    "Press the black base switch with red toggle using the right arm.",
+    "Click the black switch directly.",
+    "Deploy the right arm to operate the red and black switch",
+    "Use the right arm for switching the rectangular black plastic switch",
+    "Engage the hand-sized switch with connector prongs using the right arm",
+    "Approach and tap the black switch with metallic connectors via the right arm",
+    "Tap the black switch with metallic connectors to engage it",
+    "Click the small switch to activate it",
+    "Command the right arm to engage the rectangular black plastic switch",
+    "Activate the plastic switch with metal terminals with the right arm.",
+    "Click the black switch using automated tools",
+    "Press the plastic switch with metal terminals with the right arm",
+    "Engage the black base switch with red toggle with a press.",
+    "Set the switch at the hand-sized switch with connector prongs",
+    "Click on the black base switch with red toggle precisely",
+    "Direct the right arm to operate the switch with curved red toggle",
+    "Set the right arm to press the red-top black switch",
+    "Directly interact with the rectangular black plastic switch",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Deploy the right arm to press the hand-sized switch with connector prongs",
+    "Press the hand-sized switch with connector prongs to activate.",
+    "Trigger the red and black switch with precision",
+    "Click the black base switch with red toggle with robotic precision",
+    "Press the black base switch with red toggle carefully with the right arm",
+    "Trigger the rectangular switch with curved lever without referencing the right arm",
+    "Locate and press the black base switch with red toggle",
+    "Initiate the red and black switch by clicking",
+    "Operate the right arm to engage the black switch",
+    "Engage the small switch using the robotic arm",
+    "Activate the switch with curved red toggle via the right arm",
+    "Activate the compact switch with toggle on top directly",
+    "Toggle the compact switch with toggle on top with the right arm.",
+    "Use the right arm to engage the small switch",
+    "Interact with the black base switch with red toggle directly",
+    "Locate and press the rectangular black plastic switch",
+    "Push the hand-sized switch with connector prongs via the right arm.",
+    "Use the right arm to interact with the hand-sized switch with connector prongs",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Press the plastic switch with metal terminals using robotic control",
+    "Engage the red and black switch using the right arm.",
+    "Activate the the rectangular black plastic switch using the right arm",
+    "Activate the hand-sized switch with connector prongs with robotic precision",
+    "Engage the right arm to press the small switch",
+    "Interact with the red and black switch.",
+    "Switch the black switch to its active state",
+    "Trigger the rectangular black plastic switch using the right arm",
+    "Press the small switch via automation",
+    "Press the rectangular switch with curved lever directly",
+    "Engage with the black base switch with red toggle manually",
+    "Operate the black switch with the right arm",
+    "Press the black base switch with red toggle using the right arm.",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Deploy the right arm to operate the small switch",
+    "Use the right arm for switching the black switch",
+    "Engage the small switch using the right arm",
+    "Approach and tap the black switch via the right arm",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Click the small switch to activate it",
+    "Command the right arm to engage the red-top black switch",
+    "Activate the hand-sized switch with connector prongs with the right arm.",
+    "Click the black base switch with red toggle using automated tools",
+    "Press the plastic switch with metal terminals with the right arm",
+    "Engage the switch with curved red toggle with a press.",
+    "Set the switch at the black switch",
+    "Click on the switch with curved red toggle precisely"
+  ],
+  "unseen": [
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Use the right arm to press the switch with two metal prongs."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode273.json b/turn_switch/piper_randomized_500/instructions/episode273.json
new file mode 100644
index 0000000000000000000000000000000000000000..343565e2ad8fac1812e856fe0f25d41a551849fe
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode273.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the small switch to engage it",
+    "Use the right arm to engage the red and black switch",
+    "Command the right arm to engage the small switch",
+    "Press the red and black switch using the right arm.",
+    "Locate and press the compact switch with toggle on top",
+    "Engage the black switch using the right arm",
+    "Switch the switch with curved red toggle to its active state",
+    "Trigger the black switch without referencing the right arm",
+    "Press the black switch with metallic connectors via automation",
+    "Click the black switch using automated tools",
+    "Press the small switch using robotic control",
+    "Engage the black switch using the robotic arm",
+    "Press the plastic switch with metal terminals directly",
+    "Use the right arm to interact with the compact switch with toggle on top",
+    "Trigger the plastic switch with metal terminals with precision",
+    "Activate the hand-sized switch with connector prongs via the right arm",
+    "Activate the the rectangular switch with curved lever using the right arm",
+    "Set the right arm to press the black switch",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Engage the rectangular switch with curved lever using the right arm.",
+    "Activate the black switch with metallic connectors with the right arm.",
+    "Press the plastic switch with metal terminals carefully with the right arm",
+    "Approach and tap the hand-sized switch with connector prongs via the right arm",
+    "Activate the compact switch with toggle on top by pressing it",
+    "Press the black switch with metallic connectors to activate.",
+    "Operate the rectangular switch with curved lever with the right arm",
+    "Operate the right arm to engage the red-top black switch",
+    "Initiate the black switch with metallic connectors by clicking",
+    "Push the black switch via the right arm.",
+    "Deploy the right arm to press the small switch",
+    "Interact with the small switch.",
+    "Click the rectangular black plastic switch to activate it",
+    "Click the rectangular switch with curved lever directly.",
+    "Engage the small switch with a press.",
+    "Trigger the black switch with metallic connectors using the right arm",
+    "Direct the right arm to operate the black switch with metallic connectors",
+    "Toggle the black switch with the right arm.",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Deploy the right arm to operate the black switch",
+    "Locate and press the switch with curved red toggle",
+    "Set the switch at the rectangular black plastic switch",
+    "Use the right arm for switching the black base switch with red toggle",
+    "Click the black base switch with red toggle with robotic precision",
+    "Directly interact with the black switch",
+    "Engage with the plastic switch with metal terminals manually",
+    "Click on the plastic switch with metal terminals precisely",
+    "Press the black switch with the right arm",
+    "Activate the hand-sized switch with connector prongs with robotic precision",
+    "Engage the right arm to press the small switch",
+    "Activate the hand-sized switch with connector prongs directly",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Use the right arm to engage the small switch",
+    "Command the right arm to engage the compact switch with toggle on top",
+    "Press the rectangular black plastic switch using the right arm.",
+    "Locate and press the rectangular switch with curved lever",
+    "Engage the plastic switch with metal terminals using the right arm",
+    "Switch the compact switch with toggle on top to its active state",
+    "Trigger the black switch without referencing the right arm",
+    "Press the red and black switch via automation",
+    "Click the switch with curved red toggle using automated tools",
+    "Press the black switch using robotic control",
+    "Engage the hand-sized switch with connector prongs using the robotic arm",
+    "Press the small switch directly",
+    "Use the right arm to interact with the small switch",
+    "Trigger the switch with curved red toggle with precision",
+    "Activate the rectangular black plastic switch via the right arm",
+    "Activate the the switch with curved red toggle using the right arm",
+    "Set the right arm to press the red and black switch",
+    "Move to the rectangular black plastic switch and click it.",
+    "Engage the hand-sized switch with connector prongs using the right arm.",
+    "Activate the hand-sized switch with connector prongs with the right arm.",
+    "Press the black switch carefully with the right arm",
+    "Approach and tap the black base switch with red toggle via the right arm",
+    "Activate the black base switch with red toggle by pressing it",
+    "Press the rectangular switch with curved lever to activate.",
+    "Operate the black switch with the right arm",
+    "Operate the right arm to engage the red and black switch",
+    "Initiate the hand-sized switch with connector prongs by clicking",
+    "Push the small switch via the right arm.",
+    "Deploy the right arm to press the hand-sized switch with connector prongs",
+    "Interact with the small switch.",
+    "Click the plastic switch with metal terminals to activate it",
+    "Click the plastic switch with metal terminals directly.",
+    "Engage the black switch with metallic connectors with a press.",
+    "Trigger the black switch using the right arm",
+    "Direct the right arm to operate the small switch",
+    "Toggle the switch with curved red toggle with the right arm.",
+    "Interact with the red-top black switch directly",
+    "Deploy the right arm to operate the red-top black switch",
+    "Locate and press the red and black switch",
+    "Set the switch at the red-top black switch",
+    "Use the right arm for switching the black switch",
+    "Click the black switch with metallic connectors with robotic precision",
+    "Directly interact with the switch with curved red toggle",
+    "Engage with the red and black switch manually",
+    "Click on the switch with curved red toggle precisely",
+    "Press the red-top black switch with the right arm",
+    "Activate the black switch with robotic precision",
+    "Engage the right arm to press the small switch",
+    "Activate the rectangular switch with curved lever directly"
+  ],
+  "unseen": [
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm.",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the simple toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode274.json b/turn_switch/piper_randomized_500/instructions/episode274.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41979a422003e7f24bce1fdfcd186f4ccb80200
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode274.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the gray switch with red toggle precisely",
+    "Press the compact switch with flat base directly",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Operate the right arm to engage the electrical switch with protruding toggle",
+    "Engage the gray switch with red toggle using the robotic arm",
+    "Set the switch at the toggle switch light gray base",
+    "Engage the gray switch with red toggle using the right arm",
+    "Operate the compact switch with flat base with the right arm",
+    "Activate the switch for electrical control directly",
+    "Press the switch carefully with the right arm",
+    "Trigger the compact switch with flat base with precision",
+    "Directly interact with the electrical switch with protruding toggle",
+    "Switch the plastic gray body switch to its active state",
+    "Activate the light gray square switch via the right arm",
+    "Interact with the compact switch with flat base.",
+    "Engage the right arm to press the toggle switch light gray base",
+    "Toggle the electrical switch with protruding toggle with the right arm.",
+    "Interact with the control switch with red lever directly",
+    "Move to the compact switch with flat base and click it.",
+    "Deploy the right arm to operate the switch",
+    "Push the toggle switch light gray base via the right arm.",
+    "Set the right arm to press the electrical switch with protruding toggle",
+    "Press the toggle switch light gray base to activate.",
+    "Press the gray switch with red toggle using robotic control",
+    "Engage the plastic gray body switch using the right arm.",
+    "Use the right arm to interact with the toggle switch light gray base",
+    "Click the switch with thin red toggle with robotic precision",
+    "Use the right arm for switching the compact switch with flat base",
+    "Trigger the red bar switch using the right arm",
+    "Activate the switch with the right arm.",
+    "Press the switch using the right arm.",
+    "Press the switch with thin red toggle with the right arm",
+    "Command the right arm to engage the gray switch with red toggle",
+    "Click the switch for electrical control directly.",
+    "Trigger the switch without referencing the right arm",
+    "Press the plastic gray body switch via automation",
+    "Activate the the electrical switch with protruding toggle using the right arm",
+    "Locate and press the compact switch with flat base",
+    "Locate and press the gray switch with red toggle",
+    "Activate the switch with robotic precision",
+    "Direct the right arm to operate the light gray square switch",
+    "Engage with the switch for electrical control manually",
+    "Use the right arm to engage the compact switch with flat base",
+    "Initiate the plastic gray body switch by clicking",
+    "Click the light gray square switch to activate it",
+    "Engage the switch for electrical control with a press.",
+    "Tap the red bar switch to engage it",
+    "Approach and tap the red bar switch via the right arm",
+    "Activate the switch for electrical control by pressing it",
+    "Click the toggle switch light gray base using automated tools",
+    "Click on the gray switch with red toggle precisely",
+    "Press the control switch with red lever directly",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Operate the right arm to engage the gray switch with red toggle",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Set the switch at the gray switch with red toggle",
+    "Engage the square switch with red bar using the right arm",
+    "Operate the control switch with red lever with the right arm",
+    "Activate the compact switch with flat base directly",
+    "Press the toggle switch light gray base carefully with the right arm",
+    "Trigger the control switch with red lever with precision",
+    "Directly interact with the compact switch with flat base",
+    "Switch the plastic gray body switch to its active state",
+    "Activate the toggle switch light gray base via the right arm",
+    "Interact with the electrical switch with protruding toggle.",
+    "Engage the right arm to press the light gray square switch",
+    "Toggle the square switch with red bar with the right arm.",
+    "Interact with the switch with thin red toggle directly",
+    "Move to the control switch with red lever and click it.",
+    "Deploy the right arm to operate the compact switch with flat base",
+    "Push the switch for electrical control via the right arm.",
+    "Set the right arm to press the electrical switch with protruding toggle",
+    "Press the gray switch with red toggle to activate.",
+    "Press the square switch with red bar using robotic control",
+    "Engage the compact switch with flat base using the right arm.",
+    "Use the right arm to interact with the switch",
+    "Click the control switch with red lever with robotic precision",
+    "Use the right arm for switching the switch",
+    "Trigger the switch with thin red toggle using the right arm",
+    "Activate the electrical switch with protruding toggle with the right arm.",
+    "Press the light gray square switch using the right arm.",
+    "Press the switch for electrical control with the right arm",
+    "Command the right arm to engage the control switch with red lever",
+    "Click the switch directly.",
+    "Trigger the electrical switch with protruding toggle without referencing the right arm",
+    "Press the plastic gray body switch via automation",
+    "Activate the the switch with thin red toggle using the right arm",
+    "Locate and press the switch",
+    "Locate and press the switch for electrical control",
+    "Activate the plastic gray body switch with robotic precision",
+    "Direct the right arm to operate the red bar switch",
+    "Engage with the square switch with red bar manually",
+    "Use the right arm to engage the square switch with red bar",
+    "Initiate the red bar switch by clicking",
+    "Click the square switch with red bar to activate it",
+    "Engage the light gray square switch with a press.",
+    "Tap the control switch with red lever to engage it",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Activate the compact switch with flat base by pressing it",
+    "Click the light gray square switch using automated tools"
+  ],
+  "unseen": [
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the smooth gray base switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode276.json b/turn_switch/piper_randomized_500/instructions/episode276.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd354431ad347e7c18765393508d363c783de6d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode276.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the rectangular switch with smooth surface.",
+    "Locate and press the control switch",
+    "Press the compact rectangular black switch via automation",
+    "Operate the slanted-edge plastic black switch with the left arm",
+    "Push the medium-sized black rectangular switch via the left arm.",
+    "Approach and tap the sleek black rectangular switch via the left arm",
+    "Toggle the black switch with the left arm.",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Press the medium-sized black rectangular switch directly",
+    "Trigger the black switch with slim profile using the left arm",
+    "Activate the switch with slanted sides via the left arm",
+    "Set the switch at the control switch",
+    "Engage the left arm to press the black rectangular control switch",
+    "Engage with the switch with slanted sides manually",
+    "Move to the palm-sized black switch and click it.",
+    "Set the left arm to press the black switch with matte coating",
+    "Activate the black switch with the left arm.",
+    "Press the switch with slanted sides with the left arm",
+    "Press the compact rectangular black switch carefully with the left arm",
+    "Deploy the left arm to press the rectangular switch with smooth surface",
+    "Engage the palm-sized black switch using the robotic arm",
+    "Press the switch with slanted sides using robotic control",
+    "Click the rectangular switch with smooth surface directly.",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Tap the black switch to engage it",
+    "Click on the black switch with matte coating precisely",
+    "Operate the left arm to engage the black switch",
+    "Command the left arm to engage the control switch",
+    "Activate the slanted-edge plastic black switch by pressing it",
+    "Activate the palm-sized black switch directly",
+    "Trigger the black switch with matte coating without referencing the left arm",
+    "Activate the the compact rectangular black switch using the left arm",
+    "Engage the black switch with slim profile with a press.",
+    "Use the left arm for switching the switch with slanted sides",
+    "Locate and press the black rectangular control switch",
+    "Direct the left arm to operate the switch with slanted sides",
+    "Use the left arm to engage the medium-sized black rectangular switch",
+    "Press the slanted-edge plastic black switch to activate.",
+    "Directly interact with the compact rectangular black switch",
+    "Activate the rectangular switch with smooth surface with robotic precision",
+    "Interact with the rectangular switch with smooth surface directly",
+    "Use the left arm to interact with the compact rectangular black switch",
+    "Click the control switch with robotic precision",
+    "Switch the control switch to its active state",
+    "Deploy the left arm to operate the medium-sized black rectangular switch",
+    "Click the palm-sized black switch using automated tools",
+    "Press the black switch with matte coating using the left arm.",
+    "Engage the compact rectangular black switch using the left arm",
+    "Click the slanted-edge plastic black switch to activate it",
+    "Engage the black switch with matte coating using the left arm.",
+    "Interact with the sleek black rectangular switch.",
+    "Locate and press the sleek black rectangular switch",
+    "Press the medium-sized black rectangular switch via automation",
+    "Operate the palm-sized black switch with the left arm",
+    "Push the switch with slanted sides via the left arm.",
+    "Approach and tap the sleek black rectangular switch via the left arm",
+    "Toggle the slanted-edge plastic black switch with the left arm.",
+    "Initiate the black switch by clicking",
+    "Press the control switch directly",
+    "Trigger the control switch using the left arm",
+    "Activate the palm-sized black switch via the left arm",
+    "Set the switch at the rectangular switch with smooth surface",
+    "Engage the left arm to press the black switch",
+    "Engage with the palm-sized black switch manually",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Set the left arm to press the black switch",
+    "Activate the black switch with matte coating with the left arm.",
+    "Press the black rectangular control switch with the left arm",
+    "Press the black switch with slim profile carefully with the left arm",
+    "Deploy the left arm to press the slanted-edge plastic black switch",
+    "Engage the switch with slanted sides using the robotic arm",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Click the rectangular switch with smooth surface directly.",
+    "Trigger the black rectangular control switch with precision",
+    "Tap the rectangular switch with smooth surface to engage it",
+    "Click on the black switch precisely",
+    "Operate the left arm to engage the black switch with slim profile",
+    "Command the left arm to engage the slanted-edge plastic black switch",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Activate the sleek black rectangular switch directly",
+    "Trigger the compact rectangular black switch without referencing the left arm",
+    "Activate the the switch with slanted sides using the left arm",
+    "Engage the palm-sized black switch with a press.",
+    "Use the left arm for switching the switch with slanted sides",
+    "Locate and press the control switch",
+    "Direct the left arm to operate the black switch with slim profile",
+    "Use the left arm to engage the control switch",
+    "Press the control switch to activate.",
+    "Directly interact with the black switch with slim profile",
+    "Activate the black switch with slim profile with robotic precision",
+    "Interact with the control switch directly",
+    "Use the left arm to interact with the rectangular switch with smooth surface",
+    "Click the black rectangular control switch with robotic precision",
+    "Switch the sleek black rectangular switch to its active state",
+    "Deploy the left arm to operate the medium-sized black rectangular switch",
+    "Click the black switch using automated tools",
+    "Press the switch with slanted sides using the left arm.",
+    "Engage the medium-sized black rectangular switch using the left arm",
+    "Click the black switch to activate it",
+    "Engage the slanted-edge plastic black switch using the left arm."
+  ],
+  "unseen": [
+    "Click the matte black plastic switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the smooth black switch with the left arm.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Activate the switch at the rectangular black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode28.json b/turn_switch/piper_randomized_500/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a84be051027973b84b9ceddd3ba077f627f5d2f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the switch for electrical control",
+    "Press the square gray switch panel with the left arm",
+    "Engage the switch for electrical control with a press.",
+    "Command the left arm to engage the switch with smooth light gray finish",
+    "Deploy the left arm to press the square switch with smooth surface",
+    "Engage the switch with smooth light gray finish using the left arm.",
+    "Press the light gray plastic switch using robotic control",
+    "Activate the small square switch made of plastic via the left arm",
+    "Activate the flat square with raised center with robotic precision",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Push the square gray switch panel via the left arm.",
+    "Interact with the smooth gray switch.",
+    "Use the left arm to interact with the light gray plastic switch",
+    "Activate the the angled-edge gray square switch using the left arm",
+    "Approach and tap the smooth gray switch via the left arm",
+    "Use the left arm for switching the light gray plastic switch",
+    "Press the small square switch made of plastic to activate.",
+    "Press the switch with smooth light gray finish via automation",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Trigger the light gray plastic switch using the left arm",
+    "Engage with the flat square with raised center manually",
+    "Press the angled-edge gray square switch directly",
+    "Engage the light gray plastic switch using the left arm",
+    "Trigger the light gray plastic switch with precision",
+    "Set the left arm to press the switch with smooth light gray finish",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Press the switch for electrical control carefully with the left arm",
+    "Activate the small square switch made of plastic directly",
+    "Activate the switch with smooth light gray finish with the left arm.",
+    "Press the light gray plastic switch using the left arm.",
+    "Click the switch for electrical control with robotic precision",
+    "Locate and press the square gray switch panel",
+    "Activate the smooth gray switch by pressing it",
+    "Click on the small square switch precisely",
+    "Interact with the angled-edge gray square switch directly",
+    "Direct the left arm to operate the angled-edge gray square switch",
+    "Locate and press the angled-edge gray square switch",
+    "Use the left arm to engage the palm-sized light gray switch",
+    "Switch the small square switch to its active state",
+    "Set the switch at the small square switch made of plastic",
+    "Initiate the small square switch by clicking",
+    "Click the light gray plastic switch to activate it",
+    "Click the switch for electrical control directly.",
+    "Deploy the left arm to operate the palm-sized light gray switch",
+    "Operate the small square switch with the left arm",
+    "Move to the square gray switch panel and click it.",
+    "Trigger the small square switch made of plastic without referencing the left arm",
+    "Tap the switch with smooth light gray finish to engage it",
+    "Click the square switch with smooth surface using automated tools",
+    "Toggle the small square switch with the left arm.",
+    "Directly interact with the light gray plastic switch",
+    "Press the switch with rectangular raised area with the left arm",
+    "Engage the switch for electrical control with a press.",
+    "Command the left arm to engage the switch with rectangular raised area",
+    "Deploy the left arm to press the palm-sized light gray switch",
+    "Engage the switch for electrical control using the left arm.",
+    "Press the small square switch made of plastic using robotic control",
+    "Activate the light gray plastic switch via the left arm",
+    "Activate the light gray plastic switch with robotic precision",
+    "Engage the left arm to press the small square switch",
+    "Push the switch with rectangular raised area via the left arm.",
+    "Interact with the small square switch.",
+    "Use the left arm to interact with the smooth gray switch",
+    "Activate the the square switch with smooth surface using the left arm",
+    "Approach and tap the switch for electrical control via the left arm",
+    "Use the left arm for switching the palm-sized light gray switch",
+    "Press the angled-edge gray square switch to activate.",
+    "Press the switch with smooth light gray finish via automation",
+    "Engage the angled-edge gray square switch using the robotic arm",
+    "Trigger the small square switch using the left arm",
+    "Engage with the switch for electrical control manually",
+    "Press the angled-edge gray square switch directly",
+    "Engage the square switch with smooth surface using the left arm",
+    "Trigger the palm-sized light gray switch with precision",
+    "Set the left arm to press the light gray plastic switch",
+    "Operate the left arm to engage the palm-sized light gray switch",
+    "Press the small square switch made of plastic carefully with the left arm",
+    "Activate the angled-edge gray square switch directly",
+    "Activate the light gray plastic switch with the left arm.",
+    "Press the switch for electrical control using the left arm.",
+    "Click the switch with smooth light gray finish with robotic precision",
+    "Locate and press the small square switch made of plastic",
+    "Activate the square gray switch panel by pressing it",
+    "Click on the switch with rectangular raised area precisely",
+    "Interact with the flat square with raised center directly",
+    "Direct the left arm to operate the light gray plastic switch",
+    "Locate and press the palm-sized light gray switch",
+    "Use the left arm to engage the flat square with raised center",
+    "Switch the square gray switch panel to its active state",
+    "Set the switch at the switch with smooth light gray finish",
+    "Initiate the small square switch by clicking",
+    "Click the angled-edge gray square switch to activate it",
+    "Click the switch with rectangular raised area directly.",
+    "Deploy the left arm to operate the angled-edge gray square switch",
+    "Operate the palm-sized light gray switch with the left arm",
+    "Move to the flat square with raised center and click it.",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Tap the switch with rectangular raised area to engage it",
+    "Click the switch with smooth light gray finish using automated tools",
+    "Toggle the small square switch with the left arm."
+  ],
+  "unseen": [
+    "Click the gray switch with slanted sides using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the flat gray switch using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the flat gray switch using the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the flat gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode280.json b/turn_switch/piper_randomized_500/instructions/episode280.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da4482b0b2f892f383b127cd02af9a5c0774324
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode280.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the tiny rectangular switch",
+    "Press the rectangular switch using robotic control",
+    "Click the switch with three metal pins to activate it",
+    "Activate the switch for turning circuits on off with robotic precision",
+    "Interact with the switch for turning circuits on off directly",
+    "Switch the rectangular switch to its active state",
+    "Use the right arm to engage the two-tone red black switch",
+    "Engage the red and black electrical switch using the right arm",
+    "Click on the toggle switch with black housing precisely",
+    "Trigger the tiny rectangular switch with precision",
+    "Activate the the toggle switch with black housing using the right arm",
+    "Operate the right arm to engage the toggle switch with black housing",
+    "Use the right arm for switching the red and black electrical switch",
+    "Press the small switch with red lever using the right arm.",
+    "Press the plastic switch with metal prongs to activate.",
+    "Press the small switch with red lever with the right arm",
+    "Command the right arm to engage the tiny rectangular switch",
+    "Set the right arm to press the smooth red switch with labels",
+    "Approach and tap the switch with three metal pins via the right arm",
+    "Deploy the right arm to press the small switch with red lever",
+    "Press the metal-pronged black switch carefully with the right arm",
+    "Move to the black base switch and click it.",
+    "Operate the switch for turning circuits on off with the right arm",
+    "Click the black base switch using automated tools",
+    "Click the black base switch directly.",
+    "Press the black base switch via automation",
+    "Activate the tiny rectangular switch via the right arm",
+    "Trigger the small switch with red lever without referencing the right arm",
+    "Locate and press the small switch with red lever",
+    "Engage the black base switch with a press.",
+    "Directly interact with the switch with three metal pins",
+    "Activate the smooth red switch with labels with the right arm.",
+    "Direct the right arm to operate the toggle switch with black housing",
+    "Click the rectangular switch with robotic precision",
+    "Activate the toggle switch with black housing directly",
+    "Engage with the switch for turning circuits on off manually",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Interact with the metal-pronged black switch.",
+    "Initiate the smooth red switch with labels by clicking",
+    "Set the switch at the two-tone red black switch",
+    "Tap the black base switch to engage it",
+    "Press the small switch with red lever directly",
+    "Use the right arm to interact with the metal-pronged black switch",
+    "Engage the right arm to press the two-tone red black switch",
+    "Engage the small switch with red lever using the right arm.",
+    "Trigger the switch with three metal pins using the right arm",
+    "Push the toggle switch with black housing via the right arm.",
+    "Activate the switch for turning circuits on off by pressing it",
+    "Toggle the rectangular switch with the right arm.",
+    "Locate and press the plastic switch with metal prongs",
+    "Deploy the right arm to operate the plastic switch with metal prongs",
+    "Press the toggle switch with black housing using robotic control",
+    "Click the two-tone red black switch to activate it",
+    "Activate the black base switch with robotic precision",
+    "Interact with the switch with three metal pins directly",
+    "Switch the metal-pronged black switch to its active state",
+    "Use the right arm to engage the smooth red switch with labels",
+    "Engage the metal-pronged black switch using the right arm",
+    "Click on the metal-pronged black switch precisely",
+    "Trigger the tiny rectangular switch with precision",
+    "Activate the the tiny rectangular switch using the right arm",
+    "Operate the right arm to engage the red and black electrical switch",
+    "Use the right arm for switching the tiny rectangular switch",
+    "Press the tiny rectangular switch using the right arm.",
+    "Press the two-tone red black switch to activate.",
+    "Press the switch with three metal pins with the right arm",
+    "Command the right arm to engage the rectangular switch",
+    "Set the right arm to press the rectangular switch",
+    "Approach and tap the metal-pronged black switch via the right arm",
+    "Deploy the right arm to press the tiny rectangular switch",
+    "Press the switch for turning circuits on off carefully with the right arm",
+    "Move to the red and black electrical switch and click it.",
+    "Operate the switch with three metal pins with the right arm",
+    "Click the switch for turning circuits on off using automated tools",
+    "Click the two-tone red black switch directly.",
+    "Press the tiny rectangular switch via automation",
+    "Activate the small switch with red lever via the right arm",
+    "Trigger the metal-pronged black switch without referencing the right arm",
+    "Locate and press the smooth red switch with labels",
+    "Engage the small switch with red lever with a press.",
+    "Directly interact with the plastic switch with metal prongs",
+    "Activate the black base switch with the right arm.",
+    "Direct the right arm to operate the smooth red switch with labels",
+    "Click the toggle switch with black housing with robotic precision",
+    "Activate the tiny rectangular switch directly",
+    "Engage with the small switch with red lever manually",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Interact with the switch for turning circuits on off.",
+    "Initiate the two-tone red black switch by clicking",
+    "Set the switch at the smooth red switch with labels",
+    "Tap the tiny rectangular switch to engage it",
+    "Press the smooth red switch with labels directly",
+    "Use the right arm to interact with the plastic switch with metal prongs",
+    "Engage the right arm to press the toggle switch with black housing",
+    "Engage the plastic switch with metal prongs using the right arm.",
+    "Trigger the tiny rectangular switch using the right arm",
+    "Push the rectangular switch via the right arm.",
+    "Activate the tiny rectangular switch by pressing it",
+    "Toggle the small switch with red lever with the right arm.",
+    "Locate and press the two-tone red black switch"
+  ],
+  "unseen": [
+    "Click the red toggle switch with the right arm.",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the red toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode281.json b/turn_switch/piper_randomized_500/instructions/episode281.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d224e3cc5d5a0a7f0d53186b916ac762bf0eca
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode281.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the hand-sized switch with connector prongs directly",
+    "Direct the left arm to operate the black base switch with red toggle",
+    "Click the switch with curved red toggle with robotic precision",
+    "Activate the rectangular black plastic switch via the left arm",
+    "Deploy the left arm to operate the hand-sized switch with connector prongs",
+    "Press the red and black switch with the left arm",
+    "Toggle the rectangular switch with curved lever with the left arm.",
+    "Locate and press the rectangular black plastic switch",
+    "Locate and press the small switch",
+    "Press the small switch directly",
+    "Directly interact with the red-top black switch",
+    "Activate the hand-sized switch with connector prongs with the left arm.",
+    "Push the compact switch with toggle on top via the left arm.",
+    "Engage the left arm to press the plastic switch with metal terminals",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Press the black switch to activate.",
+    "Set the left arm to press the red-top black switch",
+    "Press the rectangular switch with curved lever using the left arm.",
+    "Interact with the switch with curved red toggle.",
+    "Initiate the black base switch with red toggle by clicking",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Move to the red-top black switch and click it.",
+    "Press the red and black switch via automation",
+    "Press the compact switch with toggle on top using robotic control",
+    "Trigger the rectangular black plastic switch without referencing the left arm",
+    "Use the left arm for switching the red-top black switch",
+    "Deploy the left arm to press the black switch with metallic connectors",
+    "Engage the small switch using the left arm.",
+    "Engage the switch with curved red toggle with a press.",
+    "Engage the black switch with metallic connectors using the left arm",
+    "Approach and tap the red-top black switch via the left arm",
+    "Command the left arm to engage the black switch",
+    "Engage with the plastic switch with metal terminals manually",
+    "Use the left arm to engage the black base switch with red toggle",
+    "Engage the rectangular black plastic switch using the robotic arm",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Click the rectangular switch with curved lever directly.",
+    "Activate the black base switch with red toggle by pressing it",
+    "Click on the compact switch with toggle on top precisely",
+    "Activate the red-top black switch with robotic precision",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Interact with the rectangular switch with curved lever directly",
+    "Set the switch at the switch with curved red toggle",
+    "Trigger the switch with curved red toggle using the left arm",
+    "Activate the the rectangular black plastic switch using the left arm",
+    "Operate the hand-sized switch with connector prongs with the left arm",
+    "Press the plastic switch with metal terminals carefully with the left arm",
+    "Trigger the switch with curved red toggle with precision",
+    "Operate the left arm to engage the switch with curved red toggle",
+    "Use the left arm to interact with the black switch",
+    "Activate the rectangular black plastic switch directly",
+    "Direct the left arm to operate the red-top black switch",
+    "Click the black switch with robotic precision",
+    "Activate the hand-sized switch with connector prongs via the left arm",
+    "Deploy the left arm to operate the compact switch with toggle on top",
+    "Press the black switch with the left arm",
+    "Toggle the hand-sized switch with connector prongs with the left arm.",
+    "Locate and press the red-top black switch",
+    "Locate and press the red and black switch",
+    "Press the black switch directly",
+    "Directly interact with the black base switch with red toggle",
+    "Activate the rectangular switch with curved lever with the left arm.",
+    "Push the black switch via the left arm.",
+    "Engage the left arm to press the small switch",
+    "Switch the black switch with metallic connectors to its active state",
+    "Press the hand-sized switch with connector prongs to activate.",
+    "Set the left arm to press the switch with curved red toggle",
+    "Press the black switch with metallic connectors using the left arm.",
+    "Interact with the red-top black switch.",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Click the red and black switch using automated tools",
+    "Move to the black switch with metallic connectors and click it.",
+    "Press the red and black switch via automation",
+    "Press the plastic switch with metal terminals using robotic control",
+    "Trigger the small switch without referencing the left arm",
+    "Use the left arm for switching the black switch with metallic connectors",
+    "Deploy the left arm to press the black switch with metallic connectors",
+    "Engage the small switch using the left arm.",
+    "Engage the black base switch with red toggle with a press.",
+    "Engage the small switch using the left arm",
+    "Approach and tap the black switch with metallic connectors via the left arm",
+    "Command the left arm to engage the small switch",
+    "Engage with the hand-sized switch with connector prongs manually",
+    "Use the left arm to engage the hand-sized switch with connector prongs",
+    "Engage the black switch using the robotic arm",
+    "Tap the red-top black switch to engage it",
+    "Click the red and black switch directly.",
+    "Activate the hand-sized switch with connector prongs by pressing it",
+    "Click on the red-top black switch precisely",
+    "Activate the hand-sized switch with connector prongs with robotic precision",
+    "Click the rectangular black plastic switch to activate it",
+    "Interact with the red and black switch directly",
+    "Set the switch at the rectangular black plastic switch",
+    "Trigger the black base switch with red toggle using the left arm",
+    "Activate the the hand-sized switch with connector prongs using the left arm",
+    "Operate the rectangular switch with curved lever with the left arm",
+    "Press the red and black switch carefully with the left arm",
+    "Trigger the black switch with metallic connectors with precision",
+    "Operate the left arm to engage the rectangular switch with curved lever",
+    "Use the left arm to interact with the rectangular switch with curved lever"
+  ],
+  "unseen": [
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode283.json b/turn_switch/piper_randomized_500/instructions/episode283.json
new file mode 100644
index 0000000000000000000000000000000000000000..e32f18b7dcc384bc65735b8232685b1ad9233274
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode283.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the electrical switch with protruding toggle",
+    "Use the right arm for switching the switch for electrical control",
+    "Trigger the switch with thin red toggle with precision",
+    "Set the right arm to press the switch for electrical control",
+    "Activate the light gray square switch via the right arm",
+    "Click the switch with thin red toggle to activate it",
+    "Trigger the switch using the right arm",
+    "Click the red bar switch directly.",
+    "Engage the plastic gray body switch using the right arm",
+    "Toggle the toggle switch light gray base with the right arm.",
+    "Locate and press the plastic gray body switch",
+    "Press the red bar switch using robotic control",
+    "Command the right arm to engage the switch for electrical control",
+    "Use the right arm to interact with the gray switch with red toggle",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Engage with the switch for electrical control manually",
+    "Press the switch for electrical control using the right arm.",
+    "Switch the switch to its active state",
+    "Deploy the right arm to operate the plastic gray body switch",
+    "Press the red bar switch carefully with the right arm",
+    "Activate the control switch with red lever by pressing it",
+    "Activate the gray switch with red toggle directly",
+    "Press the switch directly",
+    "Engage the switch for electrical control with a press.",
+    "Activate the the compact switch with flat base using the right arm",
+    "Push the switch with thin red toggle via the right arm.",
+    "Interact with the switch for electrical control.",
+    "Trigger the electrical switch with protruding toggle without referencing the right arm",
+    "Use the right arm to engage the light gray square switch",
+    "Approach and tap the switch for electrical control via the right arm",
+    "Engage the gray switch with red toggle using the right arm.",
+    "Activate the switch with thin red toggle with robotic precision",
+    "Direct the right arm to operate the switch with thin red toggle",
+    "Click the square switch with red bar with robotic precision",
+    "Initiate the gray switch with red toggle by clicking",
+    "Set the switch at the switch for electrical control",
+    "Deploy the right arm to press the control switch with red lever",
+    "Click on the compact switch with flat base precisely",
+    "Operate the switch with the right arm",
+    "Tap the light gray square switch to engage it",
+    "Activate the compact switch with flat base with the right arm.",
+    "Press the switch for electrical control to activate.",
+    "Press the light gray square switch via automation",
+    "Locate and press the gray switch with red toggle",
+    "Press the gray switch with red toggle with the right arm",
+    "Operate the right arm to engage the toggle switch light gray base",
+    "Engage the right arm to press the square switch with red bar",
+    "Click the red bar switch using automated tools",
+    "Move to the toggle switch light gray base and click it.",
+    "Interact with the square switch with red bar directly",
+    "Directly interact with the switch for electrical control",
+    "Use the right arm for switching the red bar switch",
+    "Trigger the red bar switch with precision",
+    "Set the right arm to press the switch with thin red toggle",
+    "Activate the plastic gray body switch via the right arm",
+    "Click the plastic gray body switch to activate it",
+    "Trigger the compact switch with flat base using the right arm",
+    "Click the toggle switch light gray base directly.",
+    "Engage the toggle switch light gray base using the right arm",
+    "Toggle the control switch with red lever with the right arm.",
+    "Locate and press the switch with thin red toggle",
+    "Press the control switch with red lever using robotic control",
+    "Command the right arm to engage the switch",
+    "Use the right arm to interact with the toggle switch light gray base",
+    "Engage the toggle switch light gray base using the robotic arm",
+    "Engage with the plastic gray body switch manually",
+    "Press the gray switch with red toggle using the right arm.",
+    "Switch the switch for electrical control to its active state",
+    "Deploy the right arm to operate the electrical switch with protruding toggle",
+    "Press the light gray square switch carefully with the right arm",
+    "Activate the toggle switch light gray base by pressing it",
+    "Activate the switch directly",
+    "Press the electrical switch with protruding toggle directly",
+    "Engage the light gray square switch with a press.",
+    "Activate the the gray switch with red toggle using the right arm",
+    "Push the switch via the right arm.",
+    "Interact with the red bar switch.",
+    "Trigger the plastic gray body switch without referencing the right arm",
+    "Use the right arm to engage the plastic gray body switch",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Engage the switch with thin red toggle using the right arm.",
+    "Activate the toggle switch light gray base with robotic precision",
+    "Direct the right arm to operate the gray switch with red toggle",
+    "Click the compact switch with flat base with robotic precision",
+    "Initiate the electrical switch with protruding toggle by clicking",
+    "Set the switch at the switch with thin red toggle",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Click on the plastic gray body switch precisely",
+    "Operate the plastic gray body switch with the right arm",
+    "Tap the gray switch with red toggle to engage it",
+    "Activate the switch with thin red toggle with the right arm.",
+    "Press the red bar switch to activate.",
+    "Press the compact switch with flat base via automation",
+    "Locate and press the electrical switch with protruding toggle",
+    "Press the toggle switch light gray base with the right arm",
+    "Operate the right arm to engage the red bar switch",
+    "Engage the right arm to press the red bar switch",
+    "Click the control switch with red lever using automated tools",
+    "Move to the light gray square switch and click it.",
+    "Interact with the electrical switch with protruding toggle directly"
+  ],
+  "unseen": [
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode285.json b/turn_switch/piper_randomized_500/instructions/episode285.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0076a50f6d0e3678a79c852788973e12a7e966
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode285.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the black rectangular control switch to activate.",
+    "Click the slanted-edge plastic black switch directly.",
+    "Set the left arm to press the sleek black rectangular switch",
+    "Locate and press the sleek black rectangular switch",
+    "Engage the rectangular switch with smooth surface using the left arm.",
+    "Click the black switch with matte coating using automated tools",
+    "Toggle the slanted-edge plastic black switch with the left arm.",
+    "Initiate the palm-sized black switch by clicking",
+    "Deploy the left arm to operate the medium-sized black rectangular switch",
+    "Use the left arm for switching the black switch with slim profile",
+    "Switch the switch with slanted sides to its active state",
+    "Press the black switch via automation",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Trigger the black switch using the left arm",
+    "Locate and press the rectangular switch with smooth surface",
+    "Direct the left arm to operate the rectangular switch with smooth surface",
+    "Interact with the slanted-edge plastic black switch.",
+    "Click the black switch with matte coating to activate it",
+    "Interact with the compact rectangular black switch directly",
+    "Engage with the slanted-edge plastic black switch manually",
+    "Engage the switch with slanted sides with a press.",
+    "Press the sleek black rectangular switch using robotic control",
+    "Approach and tap the switch with slanted sides via the left arm",
+    "Engage the black switch with matte coating using the left arm",
+    "Press the sleek black rectangular switch carefully with the left arm",
+    "Engage the left arm to press the palm-sized black switch",
+    "Push the slanted-edge plastic black switch via the left arm.",
+    "Operate the left arm to engage the slanted-edge plastic black switch",
+    "Operate the medium-sized black rectangular switch with the left arm",
+    "Trigger the black rectangular control switch without referencing the left arm",
+    "Directly interact with the control switch",
+    "Activate the black rectangular control switch directly",
+    "Activate the black switch via the left arm",
+    "Use the left arm to engage the black switch",
+    "Deploy the left arm to press the sleek black rectangular switch",
+    "Activate the palm-sized black switch with robotic precision",
+    "Press the black rectangular control switch using the left arm.",
+    "Press the slanted-edge plastic black switch directly",
+    "Move to the black switch with matte coating and click it.",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Activate the black switch with slim profile with the left arm.",
+    "Activate the the control switch using the left arm",
+    "Set the switch at the sleek black rectangular switch",
+    "Use the left arm to interact with the sleek black rectangular switch",
+    "Click the switch with slanted sides with robotic precision",
+    "Trigger the black switch with slim profile with precision",
+    "Press the medium-sized black rectangular switch with the left arm",
+    "Command the left arm to engage the control switch",
+    "Click on the rectangular switch with smooth surface precisely",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Press the sleek black rectangular switch to activate.",
+    "Click the black switch with matte coating directly.",
+    "Set the left arm to press the medium-sized black rectangular switch",
+    "Locate and press the slanted-edge plastic black switch",
+    "Engage the black rectangular control switch using the left arm.",
+    "Click the black rectangular control switch using automated tools",
+    "Toggle the rectangular switch with smooth surface with the left arm.",
+    "Initiate the palm-sized black switch by clicking",
+    "Deploy the left arm to operate the sleek black rectangular switch",
+    "Use the left arm for switching the slanted-edge plastic black switch",
+    "Switch the black switch to its active state",
+    "Press the black rectangular control switch via automation",
+    "Activate the compact rectangular black switch by pressing it",
+    "Trigger the black switch with slim profile using the left arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Direct the left arm to operate the medium-sized black rectangular switch",
+    "Interact with the black switch with slim profile.",
+    "Click the black rectangular control switch to activate it",
+    "Interact with the compact rectangular black switch directly",
+    "Engage with the palm-sized black switch manually",
+    "Engage the black switch with a press.",
+    "Press the control switch using robotic control",
+    "Approach and tap the palm-sized black switch via the left arm",
+    "Engage the sleek black rectangular switch using the left arm",
+    "Press the sleek black rectangular switch carefully with the left arm",
+    "Engage the left arm to press the switch with slanted sides",
+    "Push the compact rectangular black switch via the left arm.",
+    "Operate the left arm to engage the compact rectangular black switch",
+    "Operate the black switch with matte coating with the left arm",
+    "Trigger the black switch without referencing the left arm",
+    "Directly interact with the compact rectangular black switch",
+    "Activate the switch with slanted sides directly",
+    "Activate the switch with slanted sides via the left arm",
+    "Use the left arm to engage the black rectangular control switch",
+    "Deploy the left arm to press the sleek black rectangular switch",
+    "Activate the black switch with slim profile with robotic precision",
+    "Press the sleek black rectangular switch using the left arm.",
+    "Press the medium-sized black rectangular switch directly",
+    "Move to the slanted-edge plastic black switch and click it.",
+    "Tap the black switch with slim profile to engage it",
+    "Activate the black rectangular control switch with the left arm.",
+    "Activate the the slanted-edge plastic black switch using the left arm",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Use the left arm to interact with the switch with slanted sides",
+    "Click the switch with slanted sides with robotic precision",
+    "Trigger the black switch with slim profile with precision",
+    "Press the sleek black rectangular switch with the left arm",
+    "Command the left arm to engage the slanted-edge plastic black switch",
+    "Click on the medium-sized black rectangular switch precisely",
+    "Engage the rectangular switch with smooth surface using the robotic arm"
+  ],
+  "unseen": [
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Move and click the the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the matte black plastic switch",
+    "Use the left arm to press the smooth black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode287.json b/turn_switch/piper_randomized_500/instructions/episode287.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dca7833a2d43e80daf09c6650d603402b470fe0
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode287.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Click the control switch with red lever with robotic precision",
+    "Use the right arm to engage the switch",
+    "Press the control switch with red lever with the right arm",
+    "Use the right arm for switching the switch",
+    "Press the compact switch with flat base using robotic control",
+    "Locate and press the switch",
+    "Switch the switch to its active state",
+    "Operate the toggle switch light gray base with the right arm",
+    "Toggle the toggle switch light gray base with the right arm.",
+    "Use the right arm to interact with the switch",
+    "Press the control switch with red lever directly",
+    "Initiate the plastic gray body switch by clicking",
+    "Press the plastic gray body switch to activate.",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Trigger the toggle switch light gray base with precision",
+    "Locate and press the compact switch with flat base",
+    "Press the toggle switch light gray base using the right arm.",
+    "Deploy the right arm to operate the light gray square switch",
+    "Direct the right arm to operate the control switch with red lever",
+    "Engage the electrical switch with protruding toggle using the right arm",
+    "Activate the plastic gray body switch directly",
+    "Activate the switch for electrical control by pressing it",
+    "Click on the switch with thin red toggle precisely",
+    "Set the right arm to press the switch with thin red toggle",
+    "Activate the the gray switch with red toggle using the right arm",
+    "Operate the right arm to engage the switch with thin red toggle",
+    "Approach and tap the switch with thin red toggle via the right arm",
+    "Click the light gray square switch using automated tools",
+    "Trigger the control switch with red lever using the right arm",
+    "Activate the red bar switch via the right arm",
+    "Activate the red bar switch with robotic precision",
+    "Engage the toggle switch light gray base with a press.",
+    "Press the plastic gray body switch via automation",
+    "Tap the compact switch with flat base to engage it",
+    "Interact with the switch.",
+    "Click the light gray square switch directly.",
+    "Activate the control switch with red lever with the right arm.",
+    "Engage with the gray switch with red toggle manually",
+    "Engage the electrical switch with protruding toggle using the right arm.",
+    "Click the compact switch with flat base to activate it",
+    "Press the switch carefully with the right arm",
+    "Set the switch at the square switch with red bar",
+    "Command the right arm to engage the light gray square switch",
+    "Directly interact with the switch for electrical control",
+    "Move to the compact switch with flat base and click it.",
+    "Deploy the right arm to press the plastic gray body switch",
+    "Engage the right arm to press the square switch with red bar",
+    "Interact with the control switch with red lever directly",
+    "Push the switch for electrical control via the right arm.",
+    "Engage the control switch with red lever using the robotic arm",
+    "Click the switch with robotic precision",
+    "Use the right arm to engage the switch for electrical control",
+    "Press the switch for electrical control with the right arm",
+    "Use the right arm for switching the switch",
+    "Press the switch with thin red toggle using robotic control",
+    "Locate and press the gray switch with red toggle",
+    "Switch the switch with thin red toggle to its active state",
+    "Operate the light gray square switch with the right arm",
+    "Toggle the square switch with red bar with the right arm.",
+    "Use the right arm to interact with the gray switch with red toggle",
+    "Press the compact switch with flat base directly",
+    "Initiate the control switch with red lever by clicking",
+    "Press the gray switch with red toggle to activate.",
+    "Trigger the toggle switch light gray base without referencing the right arm",
+    "Trigger the switch with precision",
+    "Locate and press the switch with thin red toggle",
+    "Press the compact switch with flat base using the right arm.",
+    "Deploy the right arm to operate the electrical switch with protruding toggle",
+    "Direct the right arm to operate the plastic gray body switch",
+    "Engage the gray switch with red toggle using the right arm",
+    "Activate the switch with thin red toggle directly",
+    "Activate the square switch with red bar by pressing it",
+    "Click on the light gray square switch precisely",
+    "Set the right arm to press the toggle switch light gray base",
+    "Activate the the switch with thin red toggle using the right arm",
+    "Operate the right arm to engage the switch for electrical control",
+    "Approach and tap the toggle switch light gray base via the right arm",
+    "Click the toggle switch light gray base using automated tools",
+    "Trigger the red bar switch using the right arm",
+    "Activate the square switch with red bar via the right arm",
+    "Activate the light gray square switch with robotic precision",
+    "Engage the toggle switch light gray base with a press.",
+    "Press the toggle switch light gray base via automation",
+    "Tap the compact switch with flat base to engage it",
+    "Interact with the red bar switch.",
+    "Click the switch with thin red toggle directly.",
+    "Activate the square switch with red bar with the right arm.",
+    "Engage with the gray switch with red toggle manually",
+    "Engage the light gray square switch using the right arm.",
+    "Click the compact switch with flat base to activate it",
+    "Press the switch with thin red toggle carefully with the right arm",
+    "Set the switch at the square switch with red bar",
+    "Command the right arm to engage the light gray square switch",
+    "Directly interact with the switch with thin red toggle",
+    "Move to the red bar switch and click it.",
+    "Deploy the right arm to press the switch",
+    "Engage the right arm to press the control switch with red lever",
+    "Interact with the square switch with red bar directly",
+    "Push the gray switch with red toggle via the right arm."
+  ],
+  "unseen": [
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode290.json b/turn_switch/piper_randomized_500/instructions/episode290.json
new file mode 100644
index 0000000000000000000000000000000000000000..88077741989563885950050aec373ec8d2885d28
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode290.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the left arm to press the plastic switch with angled edges",
+    "Click the tan switch with robotic precision",
+    "Press the switch with darker rectangle using robotic control",
+    "Locate and press the plastic switch with angled edges",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Use the left arm to engage the angled switch light tan color",
+    "Engage with the flat switch manually",
+    "Activate the the hand-sized switch tan smooth finish using the left arm",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Engage the left arm to press the small light tan switch",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Click the plastic switch with angled edges directly.",
+    "Deploy the left arm to operate the rectangular switch with slanted sides",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Set the left arm to press the hand-sized switch tan smooth finish",
+    "Interact with the smooth tan switch with textured sides.",
+    "Trigger the light tan rectangular switch smooth finish using the left arm",
+    "Engage the small light tan switch with a press.",
+    "Press the switch trapezoid shape brown marking via automation",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Activate the tan switch by pressing it",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Activate the angled switch light tan color via the left arm",
+    "Use the left arm to interact with the plastic switch with angled edges",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Command the left arm to engage the rectangular switch with slanted sides",
+    "Click on the plastic switch with angled edges precisely",
+    "Use the left arm for switching the switch with darker rectangle",
+    "Switch the switch with darker rectangle to its active state",
+    "Toggle the plastic switch with angled edges with the left arm.",
+    "Activate the flat switch directly",
+    "Set the switch at the tan switch",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Engage the switch with darker rectangle using the left arm",
+    "Press the switch trapezoid shape brown marking carefully with the left arm",
+    "Press the angled switch light tan color to activate.",
+    "Push the switch with darker rectangle via the left arm.",
+    "Trigger the angled switch light tan color without referencing the left arm",
+    "Operate the left arm to engage the hand-sized switch tan smooth finish",
+    "Press the hand-sized switch tan smooth finish using the left arm.",
+    "Approach and tap the light tan rectangular switch smooth finish via the left arm",
+    "Operate the tan switch with the left arm",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Click the switch with darker rectangle to activate it",
+    "Direct the left arm to operate the plastic switch with angled edges",
+    "Press the tan switch with the left arm",
+    "Engage the small light tan switch using the left arm.",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Deploy the left arm to press the angled switch light tan color",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Locate and press the small light tan switch",
+    "Tap the flat switch to engage it",
+    "Use the left arm to engage the hand-sized switch tan smooth finish",
+    "Engage with the flat switch manually",
+    "Activate the the flat switch using the left arm",
+    "Interact with the tan switch directly",
+    "Engage the left arm to press the trapezoid-shaped switch smooth surface",
+    "Press the switch trapezoid shape brown marking directly",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Deploy the left arm to operate the light tan rectangular switch smooth finish",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Set the left arm to press the light tan rectangular switch smooth finish",
+    "Interact with the switch trapezoid shape brown marking.",
+    "Trigger the smooth tan switch with textured sides using the left arm",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Move to the smooth tan switch with textured sides and click it.",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Activate the tan switch via the left arm",
+    "Use the left arm to interact with the trapezoid-shaped switch smooth surface",
+    "Directly interact with the angled switch light tan color",
+    "Command the left arm to engage the hand-sized switch tan smooth finish",
+    "Click on the plastic switch with angled edges precisely",
+    "Use the left arm for switching the trapezoid-shaped switch smooth surface",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Toggle the rectangular switch with slanted sides with the left arm.",
+    "Activate the angled switch light tan color directly",
+    "Set the switch at the switch with darker rectangle",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Activate the switch with darker rectangle with the left arm.",
+    "Engage the light tan rectangular switch smooth finish using the left arm",
+    "Press the switch trapezoid shape brown marking carefully with the left arm",
+    "Press the flat switch to activate.",
+    "Push the light tan rectangular switch smooth finish via the left arm.",
+    "Trigger the flat switch without referencing the left arm",
+    "Operate the left arm to engage the angled switch light tan color",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Approach and tap the smooth tan switch with textured sides via the left arm",
+    "Operate the hand-sized switch tan smooth finish with the left arm",
+    "Trigger the small light tan switch with precision",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Direct the left arm to operate the light tan rectangular switch smooth finish",
+    "Press the rectangular switch with slanted sides with the left arm",
+    "Engage the hand-sized switch tan smooth finish using the left arm.",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Locate and press the hand-sized switch tan smooth finish"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode292.json b/turn_switch/piper_randomized_500/instructions/episode292.json
new file mode 100644
index 0000000000000000000000000000000000000000..debb23e6eda77d7c04bfb0cd9e6b16788cb59b5e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode292.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the smooth gray switch by clicking",
+    "Click the gray plastic switch directly.",
+    "Activate the two-button gray switch directly",
+    "Deploy the left arm to press the gray smooth surface switch",
+    "Operate the gray switch with black buttons with the left arm",
+    "Locate and press the plastic switch with matte buttons",
+    "Deploy the left arm to operate the medium switch with trapezoidal base",
+    "Toggle the gray base with black buttons with the left arm.",
+    "Use the left arm to interact with the two-button gray switch",
+    "Activate the gray smooth surface switch with the left arm.",
+    "Locate and press the gray base with black buttons",
+    "Engage the two-button gray switch using the left arm",
+    "Interact with the two-button gray switch.",
+    "Use the left arm to engage the gray base with black buttons",
+    "Tap the switch with trapezoidal base to engage it",
+    "Press the gray base with black buttons using the left arm.",
+    "Press the smooth gray switch with the left arm",
+    "Directly interact with the smooth gray switch",
+    "Press the plastic switch with matte buttons carefully with the left arm",
+    "Click the trapezoidal base switch with robotic precision",
+    "Use the left arm for switching the electric toggle switch",
+    "Engage the left arm to press the gray plastic switch",
+    "Engage the trapezoidal base switch with a press.",
+    "Switch the gray switch with black buttons to its active state",
+    "Activate the smooth gray switch with robotic precision",
+    "Operate the left arm to engage the switch with trapezoidal base",
+    "Engage with the electric toggle switch manually",
+    "Interact with the two-button gray switch directly",
+    "Press the gray smooth surface switch directly",
+    "Move to the gray switch with black buttons and click it.",
+    "Click on the smooth gray switch precisely",
+    "Press the gray base with black buttons to activate.",
+    "Activate the the gray base with black buttons using the left arm",
+    "Activate the electric toggle switch by pressing it",
+    "Push the medium switch with trapezoidal base via the left arm.",
+    "Press the smooth gray switch via automation",
+    "Trigger the medium switch with trapezoidal base using the left arm",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Set the switch at the trapezoidal base switch",
+    "Command the left arm to engage the gray base with black buttons",
+    "Direct the left arm to operate the gray smooth surface switch",
+    "Press the switch with trapezoidal base using robotic control",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Engage the handheld switch using the left arm.",
+    "Approach and tap the trapezoidal base switch via the left arm",
+    "Trigger the gray plastic switch with precision",
+    "Click the handheld switch to activate it",
+    "Activate the gray plastic switch via the left arm",
+    "Set the left arm to press the handheld switch",
+    "Click the smooth gray switch using automated tools",
+    "Initiate the medium switch with trapezoidal base by clicking",
+    "Click the electric toggle switch directly.",
+    "Activate the gray plastic switch directly",
+    "Deploy the left arm to press the smooth gray switch",
+    "Operate the smooth gray switch with the left arm",
+    "Locate and press the electric toggle switch",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Toggle the gray smooth surface switch with the left arm.",
+    "Use the left arm to interact with the gray smooth surface switch",
+    "Activate the medium switch with trapezoidal base with the left arm.",
+    "Locate and press the gray smooth surface switch",
+    "Engage the trapezoidal base switch using the left arm",
+    "Interact with the trapezoidal base switch.",
+    "Use the left arm to engage the gray base with black buttons",
+    "Tap the gray smooth surface switch to engage it",
+    "Press the gray base with black buttons using the left arm.",
+    "Press the gray base with black buttons with the left arm",
+    "Directly interact with the trapezoidal base switch",
+    "Press the plastic switch with matte buttons carefully with the left arm",
+    "Click the two-button gray switch with robotic precision",
+    "Use the left arm for switching the gray base with black buttons",
+    "Engage the left arm to press the gray plastic switch",
+    "Engage the gray smooth surface switch with a press.",
+    "Switch the gray base with black buttons to its active state",
+    "Activate the electric toggle switch with robotic precision",
+    "Operate the left arm to engage the gray plastic switch",
+    "Engage with the handheld switch manually",
+    "Interact with the electric toggle switch directly",
+    "Press the gray base with black buttons directly",
+    "Move to the smooth gray switch and click it.",
+    "Click on the gray base with black buttons precisely",
+    "Press the smooth gray switch to activate.",
+    "Activate the the gray switch with black buttons using the left arm",
+    "Activate the gray base with black buttons by pressing it",
+    "Push the gray smooth surface switch via the left arm.",
+    "Press the gray plastic switch via automation",
+    "Trigger the gray base with black buttons using the left arm",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Set the switch at the plastic switch with matte buttons",
+    "Command the left arm to engage the plastic switch with matte buttons",
+    "Direct the left arm to operate the gray plastic switch",
+    "Press the gray base with black buttons using robotic control",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Engage the trapezoidal base switch using the left arm.",
+    "Approach and tap the electric toggle switch via the left arm",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Click the switch with trapezoidal base to activate it",
+    "Activate the trapezoidal base switch via the left arm",
+    "Set the left arm to press the gray plastic switch",
+    "Click the switch with trapezoidal base using automated tools"
+  ],
+  "unseen": [
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm.",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode293.json b/turn_switch/piper_randomized_500/instructions/episode293.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec39ac5c560674e9b1c67f8715da54f12a830da
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode293.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the plastic switch with angled edges via the right arm.",
+    "Engage the switch with darker rectangle with a press.",
+    "Press the flat switch using the right arm.",
+    "Interact with the flat switch directly",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Move to the plastic switch with angled edges and click it.",
+    "Engage the right arm to press the hand-sized switch tan smooth finish",
+    "Click the tan switch directly.",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Click the tan switch using automated tools",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Press the flat switch via automation",
+    "Click the tan switch to activate it",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Toggle the small light tan switch with the right arm.",
+    "Use the right arm to engage the small light tan switch",
+    "Command the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Trigger the flat switch using the right arm",
+    "Trigger the flat switch without referencing the right arm",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Locate and press the flat switch",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Deploy the right arm to operate the small light tan switch",
+    "Locate and press the rectangular switch with slanted sides",
+    "Trigger the rectangular switch with slanted sides with precision",
+    "Press the switch with darker rectangle using robotic control",
+    "Activate the switch with darker rectangle via the right arm",
+    "Deploy the right arm to press the hand-sized switch tan smooth finish",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Direct the right arm to operate the small light tan switch",
+    "Use the right arm to interact with the tan switch",
+    "Press the flat switch directly",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Activate the switch trapezoid shape brown marking directly",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Press the hand-sized switch tan smooth finish carefully with the right arm",
+    "Engage the smooth tan switch with textured sides using the right arm.",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Click the flat switch with robotic precision",
+    "Engage the smooth tan switch with textured sides using the robotic arm",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Engage the tan switch using the right arm",
+    "Operate the rectangular switch with slanted sides with the right arm",
+    "Push the switch with darker rectangle via the right arm.",
+    "Engage the angled switch light tan color with a press.",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Interact with the switch with darker rectangle directly",
+    "Activate the angled switch light tan color by pressing it",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Engage the right arm to press the switch trapezoid shape brown marking",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Tap the angled switch light tan color to engage it",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Set the switch at the small light tan switch",
+    "Press the trapezoid-shaped switch smooth surface via automation",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Click on the small light tan switch precisely",
+    "Toggle the angled switch light tan color with the right arm.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Command the right arm to engage the switch trapezoid shape brown marking",
+    "Trigger the small light tan switch using the right arm",
+    "Trigger the switch trapezoid shape brown marking without referencing the right arm",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Directly interact with the switch trapezoid shape brown marking",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Locate and press the smooth tan switch with textured sides",
+    "Activate the switch with darker rectangle with the right arm.",
+    "Operate the right arm to engage the small light tan switch",
+    "Switch the tan switch to its active state",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Deploy the right arm to operate the light tan rectangular switch smooth finish",
+    "Locate and press the plastic switch with angled edges",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Press the hand-sized switch tan smooth finish using robotic control",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Deploy the right arm to press the small light tan switch",
+    "Press the switch with darker rectangle with the right arm",
+    "Set the right arm to press the light tan rectangular switch smooth finish",
+    "Direct the right arm to operate the flat switch",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Press the smooth tan switch with textured sides directly",
+    "Initiate the switch with darker rectangle by clicking",
+    "Activate the flat switch directly",
+    "Interact with the flat switch.",
+    "Use the right arm for switching the small light tan switch",
+    "Press the small light tan switch carefully with the right arm",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Engage the angled switch light tan color using the right arm",
+    "Operate the small light tan switch with the right arm"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Move and click the the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Move and click the the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode294.json b/turn_switch/piper_randomized_500/instructions/episode294.json
new file mode 100644
index 0000000000000000000000000000000000000000..2095c148415c0fd577f373cf146d8593304ef61e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode294.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to interact with the switch with brown button",
+    "Engage with the tiny matte beige toggle switch manually",
+    "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Press the light plastic switch with the left arm",
+    "Press the tiny matte beige toggle switch via automation",
+    "Click on the switch with brown button precisely",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Operate the beige switch with the left arm",
+    "Direct the left arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Trigger the hand-sized light beige switch with precision",
+    "Initiate the beige switch with smooth finish by clicking",
+    "Click the beige switch with smooth finish to activate it",
+    "Activate the the switch with a smooth top using the left arm",
+    "Command the left arm to engage the switch with rectangular dark button",
+    "Trigger the small trapezoid switch without referencing the left arm",
+    "Engage the toggle switch with brown rectangle button using the left arm.",
+    "Activate the switch with brown button with robotic precision",
+    "Engage the light plastic switch using the left arm",
+    "Press the light plastic switch using robotic control",
+    "Click the beige switch with smooth finish using automated tools",
+    "Locate and press the matte beige switch with flat top",
+    "Directly interact with the tiny matte beige toggle switch",
+    "Use the left arm for switching the switch with rectangular dark button",
+    "Engage the beige switch with smooth finish with a press.",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Locate and press the switch with a smooth top",
+    "Deploy the left arm to operate the beige switch",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Tap the matte beige switch with flat top to engage it",
+    "Interact with the switch with rectangular dark button directly",
+    "Activate the beige switch with smooth finish with the left arm.",
+    "Toggle the hand-sized light beige switch with the left arm.",
+    "Activate the switch with a smooth top directly",
+    "Deploy the left arm to press the switch with a smooth top",
+    "Set the left arm to press the matte beige switch with flat top",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Press the hand-sized light beige switch directly",
+    "Engage the left arm to press the tiny matte beige toggle switch",
+    "Activate the switch with brown button via the left arm",
+    "Use the left arm to engage the toggle switch with brown rectangle button",
+    "Approach and tap the switch with rectangular dark button via the left arm",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Push the switch with rectangular dark button via the left arm.",
+    "Trigger the beige switch using the left arm",
+    "Interact with the small trapezoid switch.",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Switch the light plastic switch to its active state",
+    "Press the beige switch with smooth finish carefully with the left arm",
+    "Use the left arm to interact with the switch with rectangular dark button",
+    "Engage with the beige switch with smooth finish manually",
+    "Operate the left arm to engage the beige switch with smooth finish",
+    "Press the beige switch with smooth finish with the left arm",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Click on the beige switch with smooth finish precisely",
+    "Press the light plastic switch to activate.",
+    "Operate the hand-sized light beige switch with the left arm",
+    "Direct the left arm to operate the matte beige switch with flat top",
+    "Trigger the tiny matte beige toggle switch with precision",
+    "Initiate the switch with a smooth top by clicking",
+    "Click the small trapezoid switch to activate it",
+    "Activate the the hand-sized light beige switch using the left arm",
+    "Command the left arm to engage the hand-sized light beige switch",
+    "Trigger the matte beige switch with flat top without referencing the left arm",
+    "Engage the small trapezoid switch using the left arm.",
+    "Activate the beige switch with smooth finish with robotic precision",
+    "Engage the beige switch using the left arm",
+    "Press the light plastic switch using robotic control",
+    "Click the toggle switch with brown rectangle button using automated tools",
+    "Locate and press the matte beige switch with flat top",
+    "Directly interact with the switch with rectangular dark button",
+    "Use the left arm for switching the switch with rectangular dark button",
+    "Engage the light-colored trapezoid-shaped plastic switch with a press.",
+    "Press the light plastic switch using the left arm.",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Locate and press the beige switch with smooth finish",
+    "Deploy the left arm to operate the small trapezoid switch",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Tap the beige switch to engage it",
+    "Interact with the beige switch directly",
+    "Activate the beige switch with smooth finish with the left arm.",
+    "Toggle the switch with rectangular dark button with the left arm.",
+    "Activate the small trapezoid switch directly",
+    "Deploy the left arm to press the toggle switch with brown rectangle button",
+    "Set the left arm to press the hand-sized light beige switch",
+    "Move to the switch with a smooth top and click it.",
+    "Press the switch with rectangular dark button directly",
+    "Engage the left arm to press the small trapezoid switch",
+    "Activate the light-colored trapezoid-shaped plastic switch via the left arm",
+    "Use the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Approach and tap the switch with rectangular dark button via the left arm",
+    "Engage the switch with brown button using the robotic arm",
+    "Click the light plastic switch with robotic precision",
+    "Push the switch with brown button via the left arm.",
+    "Trigger the hand-sized light beige switch using the left arm",
+    "Interact with the switch with rectangular dark button.",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Switch the light plastic switch to its active state",
+    "Press the toggle switch with brown rectangle button carefully with the left arm"
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Direct the left arm to click the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode299.json b/turn_switch/piper_randomized_500/instructions/episode299.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ae365df456a7ad90d6a85d99c4ecd06fef5c335
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode299.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Switch the switch with a smooth top to its active state",
+    "Trigger the hand-sized light beige switch using the left arm",
+    "Trigger the tiny matte beige toggle switch with precision",
+    "Engage the switch with a smooth top with a press.",
+    "Activate the the switch with a smooth top using the left arm",
+    "Click the hand-sized light beige switch to activate it",
+    "Interact with the beige switch.",
+    "Locate and press the light plastic switch",
+    "Initiate the matte beige switch with flat top by clicking",
+    "Toggle the small trapezoid switch with the left arm.",
+    "Push the small trapezoid switch via the left arm.",
+    "Click the switch with brown button with robotic precision",
+    "Press the small trapezoid switch carefully with the left arm",
+    "Activate the switch with a smooth top with robotic precision",
+    "Operate the toggle switch with brown rectangle button with the left arm",
+    "Press the small trapezoid switch using robotic control",
+    "Operate the left arm to engage the beige switch with smooth finish",
+    "Engage the left arm to press the matte beige switch with flat top",
+    "Click the switch with a smooth top using automated tools",
+    "Activate the matte beige switch with flat top directly",
+    "Press the hand-sized light beige switch directly",
+    "Trigger the small trapezoid switch without referencing the left arm",
+    "Deploy the left arm to operate the matte beige switch with flat top",
+    "Press the switch with a smooth top via automation",
+    "Activate the switch with rectangular dark button with the left arm.",
+    "Set the switch at the switch with rectangular dark button",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Direct the left arm to operate the light plastic switch",
+    "Click the light plastic switch directly.",
+    "Locate and press the hand-sized light beige switch",
+    "Press the light plastic switch with the left arm",
+    "Activate the light plastic switch via the left arm",
+    "Engage the small trapezoid switch using the left arm",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm.",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Approach and tap the matte beige switch with flat top via the left arm",
+    "Directly interact with the switch with a smooth top",
+    "Command the left arm to engage the beige switch",
+    "Press the beige switch using the left arm.",
+    "Set the left arm to press the beige switch",
+    "Click on the toggle switch with brown rectangle button precisely",
+    "Tap the switch with a smooth top to engage it",
+    "Use the left arm to interact with the toggle switch with brown rectangle button",
+    "Move to the hand-sized light beige switch and click it.",
+    "Activate the beige switch by pressing it",
+    "Deploy the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Use the left arm for switching the light plastic switch",
+    "Use the left arm to engage the toggle switch with brown rectangle button",
+    "Press the hand-sized light beige switch to activate.",
+    "Engage with the switch with rectangular dark button manually",
+    "Switch the hand-sized light beige switch to its active state",
+    "Trigger the switch with a smooth top using the left arm",
+    "Trigger the light plastic switch with precision",
+    "Engage the hand-sized light beige switch with a press.",
+    "Activate the the tiny matte beige toggle switch using the left arm",
+    "Click the matte beige switch with flat top to activate it",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Locate and press the switch with brown button",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Toggle the light plastic switch with the left arm.",
+    "Push the switch with a smooth top via the left arm.",
+    "Click the small trapezoid switch with robotic precision",
+    "Press the toggle switch with brown rectangle button carefully with the left arm",
+    "Activate the switch with rectangular dark button with robotic precision",
+    "Operate the switch with brown button with the left arm",
+    "Press the small trapezoid switch using robotic control",
+    "Operate the left arm to engage the matte beige switch with flat top",
+    "Engage the left arm to press the beige switch with smooth finish",
+    "Click the matte beige switch with flat top using automated tools",
+    "Activate the beige switch directly",
+    "Press the hand-sized light beige switch directly",
+    "Trigger the toggle switch with brown rectangle button without referencing the left arm",
+    "Deploy the left arm to operate the switch with brown button",
+    "Press the switch with rectangular dark button via automation",
+    "Activate the toggle switch with brown rectangle button with the left arm.",
+    "Set the switch at the beige switch with smooth finish",
+    "Interact with the beige switch with smooth finish directly",
+    "Direct the left arm to operate the beige switch",
+    "Click the beige switch with smooth finish directly.",
+    "Locate and press the hand-sized light beige switch",
+    "Press the beige switch with the left arm",
+    "Activate the switch with brown button via the left arm",
+    "Engage the small trapezoid switch using the left arm",
+    "Engage the switch with brown button using the left arm.",
+    "Engage the switch with a smooth top using the robotic arm",
+    "Approach and tap the tiny matte beige toggle switch via the left arm",
+    "Directly interact with the beige switch with smooth finish",
+    "Command the left arm to engage the light plastic switch",
+    "Press the light plastic switch using the left arm.",
+    "Set the left arm to press the switch with a smooth top",
+    "Click on the matte beige switch with flat top precisely",
+    "Tap the switch with brown button to engage it",
+    "Use the left arm to interact with the light-colored trapezoid-shaped plastic switch",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Activate the small trapezoid switch by pressing it",
+    "Deploy the left arm to press the toggle switch with brown rectangle button",
+    "Use the left arm for switching the matte beige switch with flat top",
+    "Use the left arm to engage the switch with a smooth top"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode30.json b/turn_switch/piper_randomized_500/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe6fa062a43d09a4e4b2c0fa47fb7b90708321c9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the tan switch",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Engage the switch trapezoid shape brown marking using the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the right arm",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Switch the plastic switch with angled edges to its active state",
+    "Set the switch at the tan switch",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Interact with the switch with darker rectangle directly",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Press the hand-sized switch tan smooth finish carefully with the right arm",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Activate the switch with darker rectangle directly",
+    "Locate and press the smooth tan switch with textured sides",
+    "Locate and press the small light tan switch",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Engage the hand-sized switch tan smooth finish with a press.",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Deploy the right arm to operate the switch with darker rectangle",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Set the right arm to press the tan switch",
+    "Push the rectangular switch with slanted sides via the right arm.",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Activate the the flat switch using the right arm",
+    "Engage with the plastic switch with angled edges manually",
+    "Press the switch with darker rectangle to activate.",
+    "Press the angled switch light tan color directly",
+    "Activate the plastic switch with angled edges via the right arm",
+    "Press the light tan rectangular switch smooth finish with the right arm",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Trigger the angled switch light tan color with precision",
+    "Click the angled switch light tan color with robotic precision",
+    "Engage the right arm to press the switch trapezoid shape brown marking",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Press the tan switch using the right arm.",
+    "Approach and tap the rectangular switch with slanted sides via the right arm",
+    "Operate the right arm to engage the light tan rectangular switch smooth finish",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Use the right arm to engage the flat switch",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Click on the small light tan switch precisely",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Move to the switch with darker rectangle and click it.",
+    "Direct the right arm to operate the switch with darker rectangle",
+    "Trigger the switch with darker rectangle using the right arm",
+    "Directly interact with the plastic switch with angled edges",
+    "Toggle the tan switch with the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Engage the switch with darker rectangle using the right arm",
+    "Interact with the angled switch light tan color.",
+    "Switch the rectangular switch with slanted sides to its active state",
+    "Set the switch at the plastic switch with angled edges",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Interact with the switch with darker rectangle directly",
+    "Activate the flat switch with the right arm.",
+    "Deploy the right arm to press the trapezoid-shaped switch smooth surface",
+    "Operate the hand-sized switch tan smooth finish with the right arm",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Activate the light tan rectangular switch smooth finish with robotic precision",
+    "Tap the angled switch light tan color to engage it",
+    "Activate the switch with darker rectangle directly",
+    "Locate and press the plastic switch with angled edges",
+    "Locate and press the rectangular switch with slanted sides",
+    "Command the right arm to engage the flat switch",
+    "Engage the small light tan switch with a press.",
+    "Engage the flat switch using the robotic arm",
+    "Deploy the right arm to operate the flat switch",
+    "Click the flat switch using automated tools",
+    "Set the right arm to press the flat switch",
+    "Push the tan switch via the right arm.",
+    "Activate the trapezoid-shaped switch smooth surface by pressing it",
+    "Activate the the tan switch using the right arm",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Press the plastic switch with angled edges to activate.",
+    "Press the switch trapezoid shape brown marking directly",
+    "Activate the angled switch light tan color via the right arm",
+    "Press the switch with darker rectangle with the right arm",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Trigger the tan switch with precision",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Engage the right arm to press the rectangular switch with slanted sides",
+    "Press the switch with darker rectangle using robotic control",
+    "Press the rectangular switch with slanted sides using the right arm.",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Click the plastic switch with angled edges directly.",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Use the right arm to engage the angled switch light tan color",
+    "Press the rectangular switch with slanted sides via automation",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Move to the plastic switch with angled edges and click it.",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Trigger the plastic switch with angled edges using the right arm"
+  ],
+  "unseen": [
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode301.json b/turn_switch/piper_randomized_500/instructions/episode301.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7ed0d30bab18704bf7a761e7013fd608813e78
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode301.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the black switch with metallic connectors precisely",
+    "Toggle the plastic switch with metal terminals with the left arm.",
+    "Push the rectangular black plastic switch via the left arm.",
+    "Initiate the black switch by clicking",
+    "Click the black base switch with red toggle with robotic precision",
+    "Deploy the left arm to operate the small switch",
+    "Use the left arm to interact with the switch with curved red toggle",
+    "Trigger the plastic switch with metal terminals using the left arm",
+    "Interact with the small switch.",
+    "Locate and press the switch with curved red toggle",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Press the red-top black switch via automation",
+    "Trigger the rectangular black plastic switch with precision",
+    "Direct the left arm to operate the rectangular black plastic switch",
+    "Move to the plastic switch with metal terminals and click it.",
+    "Directly interact with the black base switch with red toggle",
+    "Switch the rectangular switch with curved lever to its active state",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Approach and tap the red and black switch via the left arm",
+    "Use the left arm for switching the black switch with metallic connectors",
+    "Operate the left arm to engage the plastic switch with metal terminals",
+    "Press the compact switch with toggle on top with the left arm",
+    "Click the red-top black switch to activate it",
+    "Activate the the plastic switch with metal terminals using the left arm",
+    "Press the hand-sized switch with connector prongs directly",
+    "Engage the switch with curved red toggle using the robotic arm",
+    "Click the black base switch with red toggle using automated tools",
+    "Activate the black switch with robotic precision",
+    "Operate the red and black switch with the left arm",
+    "Set the left arm to press the compact switch with toggle on top",
+    "Press the rectangular black plastic switch carefully with the left arm",
+    "Trigger the small switch without referencing the left arm",
+    "Engage the left arm to press the black switch",
+    "Activate the hand-sized switch with connector prongs with the left arm.",
+    "Activate the plastic switch with metal terminals via the left arm",
+    "Locate and press the black switch with metallic connectors",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Press the black base switch with red toggle using the left arm.",
+    "Engage the black base switch with red toggle using the left arm.",
+    "Click the rectangular switch with curved lever directly.",
+    "Engage with the switch with curved red toggle manually",
+    "Press the plastic switch with metal terminals to activate.",
+    "Engage the compact switch with toggle on top using the left arm",
+    "Deploy the left arm to press the rectangular switch with curved lever",
+    "Command the left arm to engage the black switch",
+    "Interact with the black base switch with red toggle directly",
+    "Activate the small switch by pressing it",
+    "Activate the red-top black switch directly",
+    "Set the switch at the black base switch with red toggle",
+    "Use the left arm to engage the compact switch with toggle on top",
+    "Click on the plastic switch with metal terminals precisely",
+    "Toggle the plastic switch with metal terminals with the left arm.",
+    "Push the compact switch with toggle on top via the left arm.",
+    "Initiate the black switch by clicking",
+    "Click the red-top black switch with robotic precision",
+    "Deploy the left arm to operate the switch with curved red toggle",
+    "Use the left arm to interact with the compact switch with toggle on top",
+    "Trigger the rectangular switch with curved lever using the left arm",
+    "Interact with the black base switch with red toggle.",
+    "Locate and press the black base switch with red toggle",
+    "Press the rectangular black plastic switch using robotic control",
+    "Press the rectangular black plastic switch via automation",
+    "Trigger the plastic switch with metal terminals with precision",
+    "Direct the left arm to operate the small switch",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Directly interact with the hand-sized switch with connector prongs",
+    "Switch the red and black switch to its active state",
+    "Tap the small switch to engage it",
+    "Approach and tap the black base switch with red toggle via the left arm",
+    "Use the left arm for switching the switch with curved red toggle",
+    "Operate the left arm to engage the red-top black switch",
+    "Press the red-top black switch with the left arm",
+    "Click the black switch to activate it",
+    "Activate the the compact switch with toggle on top using the left arm",
+    "Press the rectangular switch with curved lever directly",
+    "Engage the black switch with metallic connectors using the robotic arm",
+    "Click the black switch using automated tools",
+    "Activate the small switch with robotic precision",
+    "Operate the rectangular switch with curved lever with the left arm",
+    "Set the left arm to press the rectangular black plastic switch",
+    "Press the black base switch with red toggle carefully with the left arm",
+    "Trigger the black base switch with red toggle without referencing the left arm",
+    "Engage the left arm to press the rectangular switch with curved lever",
+    "Activate the black base switch with red toggle with the left arm.",
+    "Activate the switch with curved red toggle via the left arm",
+    "Locate and press the switch with curved red toggle",
+    "Engage the rectangular black plastic switch with a press.",
+    "Press the hand-sized switch with connector prongs using the left arm.",
+    "Engage the rectangular black plastic switch using the left arm.",
+    "Click the red-top black switch directly.",
+    "Engage with the hand-sized switch with connector prongs manually",
+    "Press the red-top black switch to activate.",
+    "Engage the black switch using the left arm",
+    "Deploy the left arm to press the plastic switch with metal terminals",
+    "Command the left arm to engage the black base switch with red toggle",
+    "Interact with the rectangular switch with curved lever directly",
+    "Activate the rectangular black plastic switch by pressing it",
+    "Activate the plastic switch with metal terminals directly",
+    "Set the switch at the small switch",
+    "Use the left arm to engage the rectangular switch with curved lever"
+  ],
+  "unseen": [
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the simple toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode303.json b/turn_switch/piper_randomized_500/instructions/episode303.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf315d7fcb87f982013ea7de0fbbc20e432840f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode303.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Deploy the right arm to operate the small trapezoid switch",
+    "Toggle the switch with brown button with the right arm.",
+    "Command the right arm to engage the beige switch with smooth finish",
+    "Activate the the beige switch with smooth finish using the right arm",
+    "Locate and press the beige switch with smooth finish",
+    "Activate the switch with a smooth top directly",
+    "Move to the toggle switch with brown rectangle button and click it.",
+    "Trigger the hand-sized light beige switch with precision",
+    "Press the switch with a smooth top via automation",
+    "Activate the small trapezoid switch with the right arm.",
+    "Engage the right arm to press the hand-sized light beige switch",
+    "Click the matte beige switch with flat top to activate it",
+    "Activate the switch with rectangular dark button via the right arm",
+    "Direct the right arm to operate the beige switch",
+    "Trigger the light plastic switch using the right arm",
+    "Interact with the toggle switch with brown rectangle button.",
+    "Engage the hand-sized light beige switch with a press.",
+    "Press the matte beige switch with flat top with the right arm",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Directly interact with the light-colored trapezoid-shaped plastic switch",
+    "Press the matte beige switch with flat top carefully with the right arm",
+    "Press the toggle switch with brown rectangle button directly",
+    "Operate the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Activate the light plastic switch by pressing it",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Engage the beige switch using the right arm",
+    "Click the tiny matte beige toggle switch with robotic precision",
+    "Use the right arm to interact with the switch with rectangular dark button",
+    "Set the switch at the beige switch with smooth finish",
+    "Switch the small trapezoid switch to its active state",
+    "Trigger the light-colored trapezoid-shaped plastic switch without referencing the right arm",
+    "Press the switch with rectangular dark button using the right arm.",
+    "Click the switch with rectangular dark button directly.",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Tap the switch with brown button to engage it",
+    "Set the right arm to press the switch with a smooth top",
+    "Engage the beige switch using the right arm.",
+    "Use the right arm to engage the hand-sized light beige switch",
+    "Use the right arm for switching the tiny matte beige toggle switch",
+    "Push the switch with brown button via the right arm.",
+    "Engage the beige switch with smooth finish using the robotic arm",
+    "Press the light plastic switch to activate.",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Engage with the matte beige switch with flat top manually",
+    "Operate the right arm to engage the switch with brown button",
+    "Click the light-colored trapezoid-shaped plastic switch using automated tools",
+    "Press the hand-sized light beige switch using robotic control",
+    "Initiate the switch with brown button by clicking",
+    "Locate and press the beige switch with smooth finish",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Toggle the beige switch with smooth finish with the right arm.",
+    "Command the right arm to engage the tiny matte beige toggle switch",
+    "Activate the the beige switch using the right arm",
+    "Locate and press the beige switch with smooth finish",
+    "Activate the light plastic switch directly",
+    "Move to the light plastic switch and click it.",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Press the beige switch with smooth finish via automation",
+    "Activate the beige switch with the right arm.",
+    "Engage the right arm to press the toggle switch with brown rectangle button",
+    "Click the light plastic switch to activate it",
+    "Activate the hand-sized light beige switch via the right arm",
+    "Direct the right arm to operate the light plastic switch",
+    "Trigger the switch with brown button using the right arm",
+    "Interact with the light plastic switch.",
+    "Engage the tiny matte beige toggle switch with a press.",
+    "Press the beige switch with smooth finish with the right arm",
+    "Activate the switch with brown button with robotic precision",
+    "Directly interact with the switch with rectangular dark button",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the right arm",
+    "Press the tiny matte beige toggle switch directly",
+    "Operate the beige switch with the right arm",
+    "Activate the hand-sized light beige switch by pressing it",
+    "Interact with the switch with brown button directly",
+    "Engage the hand-sized light beige switch using the right arm",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Use the right arm to interact with the switch with brown button",
+    "Set the switch at the switch with brown button",
+    "Switch the light-colored trapezoid-shaped plastic switch to its active state",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Press the switch with rectangular dark button using the right arm.",
+    "Click the beige switch directly.",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Tap the switch with rectangular dark button to engage it",
+    "Set the right arm to press the switch with a smooth top",
+    "Engage the toggle switch with brown rectangle button using the right arm.",
+    "Use the right arm to engage the beige switch",
+    "Use the right arm for switching the switch with a smooth top",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Engage the switch with rectangular dark button using the robotic arm",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Approach and tap the beige switch with smooth finish via the right arm",
+    "Engage with the switch with rectangular dark button manually",
+    "Operate the right arm to engage the small trapezoid switch",
+    "Click the switch with brown button using automated tools",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Locate and press the beige switch with smooth finish"
+  ],
+  "unseen": [
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Direct the right arm to click the beige switch with darker brown top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode308.json b/turn_switch/piper_randomized_500/instructions/episode308.json
new file mode 100644
index 0000000000000000000000000000000000000000..484a922499e9dc75aebb786fdbc6ad70b7461568
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode308.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Toggle the smooth gray switch with the left arm.",
+    "Click the switch with rectangular raised area directly.",
+    "Use the left arm to interact with the angled-edge gray square switch",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the switch for electrical control using the left arm.",
+    "Engage the small square switch using the robotic arm",
+    "Tap the square switch with smooth surface to engage it",
+    "Operate the left arm to engage the small square switch",
+    "Press the small square switch to activate.",
+    "Click on the light gray plastic switch precisely",
+    "Trigger the square switch with smooth surface without referencing the left arm",
+    "Engage with the palm-sized light gray switch manually",
+    "Click the angled-edge gray square switch to activate it",
+    "Interact with the small square switch made of plastic directly",
+    "Use the left arm to engage the switch with rectangular raised area",
+    "Activate the switch for electrical control via the left arm",
+    "Switch the square switch with smooth surface to its active state",
+    "Direct the left arm to operate the small square switch made of plastic",
+    "Interact with the flat square with raised center.",
+    "Locate and press the switch with rectangular raised area",
+    "Press the switch with rectangular raised area directly",
+    "Use the left arm for switching the smooth gray switch",
+    "Deploy the left arm to press the small square switch",
+    "Engage the square gray switch panel using the left arm.",
+    "Press the palm-sized light gray switch via automation",
+    "Locate and press the switch for electrical control",
+    "Click the palm-sized light gray switch using automated tools",
+    "Push the small square switch made of plastic via the left arm.",
+    "Click the flat square with raised center with robotic precision",
+    "Move to the switch for electrical control and click it.",
+    "Press the square switch with smooth surface carefully with the left arm",
+    "Trigger the flat square with raised center using the left arm",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Deploy the left arm to operate the light gray plastic switch",
+    "Operate the small square switch made of plastic with the left arm",
+    "Set the left arm to press the switch with rectangular raised area",
+    "Press the palm-sized light gray switch with the left arm",
+    "Activate the the square gray switch panel using the left arm",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Engage the flat square with raised center with a press.",
+    "Set the switch at the light gray plastic switch",
+    "Activate the angled-edge gray square switch directly",
+    "Activate the flat square with raised center with the left arm.",
+    "Engage the square switch with smooth surface using the left arm",
+    "Directly interact with the flat square with raised center",
+    "Engage the left arm to press the switch for electrical control",
+    "Press the small square switch made of plastic using robotic control",
+    "Activate the switch with smooth light gray finish with robotic precision",
+    "Approach and tap the flat square with raised center via the left arm",
+    "Command the left arm to engage the smooth gray switch",
+    "Toggle the small square switch made of plastic with the left arm.",
+    "Click the smooth gray switch directly.",
+    "Use the left arm to interact with the switch for electrical control",
+    "Trigger the switch with rectangular raised area with precision",
+    "Press the small square switch made of plastic using the left arm.",
+    "Engage the square gray switch panel using the robotic arm",
+    "Tap the switch with smooth light gray finish to engage it",
+    "Operate the left arm to engage the small square switch",
+    "Press the angled-edge gray square switch to activate.",
+    "Click on the smooth gray switch precisely",
+    "Trigger the switch with rectangular raised area without referencing the left arm",
+    "Engage with the smooth gray switch manually",
+    "Click the switch with smooth light gray finish to activate it",
+    "Interact with the flat square with raised center directly",
+    "Use the left arm to engage the switch with rectangular raised area",
+    "Activate the angled-edge gray square switch via the left arm",
+    "Switch the palm-sized light gray switch to its active state",
+    "Direct the left arm to operate the square gray switch panel",
+    "Interact with the palm-sized light gray switch.",
+    "Locate and press the angled-edge gray square switch",
+    "Press the small square switch made of plastic directly",
+    "Use the left arm for switching the switch for electrical control",
+    "Deploy the left arm to press the small square switch",
+    "Engage the square gray switch panel using the left arm.",
+    "Press the switch with rectangular raised area via automation",
+    "Locate and press the switch with smooth light gray finish",
+    "Click the switch with smooth light gray finish using automated tools",
+    "Push the smooth gray switch via the left arm.",
+    "Click the switch for electrical control with robotic precision",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Press the small square switch made of plastic carefully with the left arm",
+    "Trigger the small square switch made of plastic using the left arm",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Deploy the left arm to operate the square gray switch panel",
+    "Operate the small square switch with the left arm",
+    "Set the left arm to press the square switch with smooth surface",
+    "Press the angled-edge gray square switch with the left arm",
+    "Activate the the square switch with smooth surface using the left arm",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Set the switch at the smooth gray switch",
+    "Activate the angled-edge gray square switch directly",
+    "Activate the switch with rectangular raised area with the left arm.",
+    "Engage the small square switch using the left arm",
+    "Directly interact with the light gray plastic switch",
+    "Engage the left arm to press the small square switch",
+    "Press the flat square with raised center using robotic control",
+    "Activate the small square switch made of plastic with robotic precision",
+    "Approach and tap the square switch with smooth surface via the left arm",
+    "Command the left arm to engage the switch for electrical control"
+  ],
+  "unseen": [
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Use the left arm to press the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode310.json b/turn_switch/piper_randomized_500/instructions/episode310.json
new file mode 100644
index 0000000000000000000000000000000000000000..89588dcb249808cc1049ead434c5bbf5ffe577f6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode310.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the switch with curved red toggle to engage it",
+    "Click on the hand-sized switch with connector prongs precisely",
+    "Switch the plastic switch with metal terminals to its active state",
+    "Activate the black switch by pressing it",
+    "Click the black switch with metallic connectors directly.",
+    "Use the right arm to engage the small switch",
+    "Locate and press the black base switch with red toggle",
+    "Activate the red and black switch directly",
+    "Push the black base switch with red toggle via the right arm.",
+    "Trigger the black switch with metallic connectors using the right arm",
+    "Move to the black switch with metallic connectors and click it.",
+    "Activate the rectangular switch with curved lever with the right arm.",
+    "Set the right arm to press the black switch with metallic connectors",
+    "Engage with the black switch manually",
+    "Press the rectangular black plastic switch carefully with the right arm",
+    "Directly interact with the black switch with metallic connectors",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Engage the switch with curved red toggle using the right arm",
+    "Deploy the right arm to press the hand-sized switch with connector prongs",
+    "Deploy the right arm to operate the compact switch with toggle on top",
+    "Engage the right arm to press the small switch",
+    "Interact with the black base switch with red toggle directly",
+    "Set the switch at the red-top black switch",
+    "Interact with the rectangular black plastic switch.",
+    "Toggle the black base switch with red toggle with the right arm.",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Initiate the switch with curved red toggle by clicking",
+    "Use the right arm for switching the rectangular switch with curved lever",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Locate and press the black switch with metallic connectors",
+    "Press the black switch using the right arm.",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Click the red and black switch with robotic precision",
+    "Press the switch with curved red toggle via automation",
+    "Direct the right arm to operate the red and black switch",
+    "Press the small switch directly",
+    "Approach and tap the switch with curved red toggle via the right arm",
+    "Operate the red and black switch with the right arm",
+    "Engage the red and black switch using the robotic arm",
+    "Trigger the small switch without referencing the right arm",
+    "Press the compact switch with toggle on top with the right arm",
+    "Engage the rectangular switch with curved lever using the right arm.",
+    "Press the rectangular switch with curved lever to activate.",
+    "Activate the hand-sized switch with connector prongs via the right arm",
+    "Use the right arm to interact with the compact switch with toggle on top",
+    "Operate the right arm to engage the switch with curved red toggle",
+    "Activate the the red-top black switch using the right arm",
+    "Press the hand-sized switch with connector prongs using robotic control",
+    "Command the right arm to engage the hand-sized switch with connector prongs",
+    "Engage the rectangular switch with curved lever with a press.",
+    "Tap the black switch to engage it",
+    "Click on the plastic switch with metal terminals precisely",
+    "Switch the red-top black switch to its active state",
+    "Activate the small switch by pressing it",
+    "Click the red and black switch directly.",
+    "Use the right arm to engage the rectangular black plastic switch",
+    "Locate and press the rectangular black plastic switch",
+    "Activate the small switch directly",
+    "Push the hand-sized switch with connector prongs via the right arm.",
+    "Trigger the switch with curved red toggle using the right arm",
+    "Move to the red-top black switch and click it.",
+    "Activate the hand-sized switch with connector prongs with the right arm.",
+    "Set the right arm to press the black switch",
+    "Engage with the black switch with metallic connectors manually",
+    "Press the rectangular black plastic switch carefully with the right arm",
+    "Directly interact with the plastic switch with metal terminals",
+    "Click the black base switch with red toggle using automated tools",
+    "Engage the hand-sized switch with connector prongs using the right arm",
+    "Deploy the right arm to press the red and black switch",
+    "Deploy the right arm to operate the switch with curved red toggle",
+    "Engage the right arm to press the red-top black switch",
+    "Interact with the compact switch with toggle on top directly",
+    "Set the switch at the rectangular black plastic switch",
+    "Interact with the black base switch with red toggle.",
+    "Toggle the compact switch with toggle on top with the right arm.",
+    "Trigger the black switch with metallic connectors with precision",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Use the right arm for switching the plastic switch with metal terminals",
+    "Activate the red-top black switch with robotic precision",
+    "Locate and press the switch with curved red toggle",
+    "Press the rectangular switch with curved lever using the right arm.",
+    "Click the rectangular switch with curved lever to activate it",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Press the rectangular black plastic switch via automation",
+    "Direct the right arm to operate the hand-sized switch with connector prongs",
+    "Press the black switch with metallic connectors directly",
+    "Approach and tap the rectangular switch with curved lever via the right arm",
+    "Operate the rectangular switch with curved lever with the right arm",
+    "Engage the rectangular switch with curved lever using the robotic arm",
+    "Trigger the rectangular switch with curved lever without referencing the right arm",
+    "Press the rectangular switch with curved lever with the right arm",
+    "Engage the small switch using the right arm.",
+    "Press the plastic switch with metal terminals to activate.",
+    "Activate the black base switch with red toggle via the right arm",
+    "Use the right arm to interact with the rectangular switch with curved lever",
+    "Operate the right arm to engage the switch with curved red toggle",
+    "Activate the the hand-sized switch with connector prongs using the right arm",
+    "Press the red-top black switch using robotic control",
+    "Command the right arm to engage the switch with curved red toggle",
+    "Engage the compact switch with toggle on top with a press."
+  ],
+  "unseen": [
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the simple toggle switch.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Direct the right arm to click the simple toggle switch",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode311.json b/turn_switch/piper_randomized_500/instructions/episode311.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a518e704bd6490e5b8e80044ae1c770c9bf73a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode311.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the gray base with black buttons with robotic precision",
+    "Engage with the gray plastic switch manually",
+    "Operate the medium switch with trapezoidal base with the left arm",
+    "Command the left arm to engage the two-button gray switch",
+    "Click the plastic switch with matte buttons directly.",
+    "Locate and press the gray plastic switch",
+    "Directly interact with the gray plastic switch",
+    "Push the gray plastic switch via the left arm.",
+    "Trigger the gray base with black buttons without referencing the left arm",
+    "Press the plastic switch with matte buttons via automation",
+    "Engage the left arm to press the switch with trapezoidal base",
+    "Trigger the gray base with black buttons using the left arm",
+    "Engage the two-button gray switch using the robotic arm",
+    "Activate the the switch with trapezoidal base using the left arm",
+    "Press the trapezoidal base switch directly",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Tap the gray switch with black buttons to engage it",
+    "Interact with the plastic switch with matte buttons directly",
+    "Activate the handheld switch with the left arm.",
+    "Press the two-button gray switch carefully with the left arm",
+    "Press the two-button gray switch with the left arm",
+    "Click on the smooth gray switch precisely",
+    "Engage the switch with trapezoidal base using the left arm",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Activate the gray plastic switch via the left arm",
+    "Initiate the gray smooth surface switch by clicking",
+    "Move to the gray base with black buttons and click it.",
+    "Press the medium switch with trapezoidal base to activate.",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Switch the gray smooth surface switch to its active state",
+    "Deploy the left arm to operate the gray switch with black buttons",
+    "Press the handheld switch using the left arm.",
+    "Use the left arm to interact with the switch with trapezoidal base",
+    "Set the switch at the gray switch with black buttons",
+    "Operate the left arm to engage the medium switch with trapezoidal base",
+    "Activate the two-button gray switch directly",
+    "Locate and press the gray smooth surface switch",
+    "Direct the left arm to operate the switch with trapezoidal base",
+    "Click the smooth gray switch to activate it",
+    "Interact with the gray base with black buttons.",
+    "Set the left arm to press the trapezoidal base switch",
+    "Approach and tap the trapezoidal base switch via the left arm",
+    "Deploy the left arm to press the gray base with black buttons",
+    "Press the two-button gray switch using robotic control",
+    "Use the left arm for switching the plastic switch with matte buttons",
+    "Click the two-button gray switch using automated tools",
+    "Trigger the gray switch with black buttons with precision",
+    "Use the left arm to engage the gray plastic switch",
+    "Toggle the two-button gray switch with the left arm.",
+    "Engage the electric toggle switch using the left arm.",
+    "Click the two-button gray switch with robotic precision",
+    "Engage with the trapezoidal base switch manually",
+    "Operate the two-button gray switch with the left arm",
+    "Command the left arm to engage the two-button gray switch",
+    "Click the medium switch with trapezoidal base directly.",
+    "Locate and press the gray base with black buttons",
+    "Directly interact with the gray plastic switch",
+    "Push the two-button gray switch via the left arm.",
+    "Trigger the plastic switch with matte buttons without referencing the left arm",
+    "Press the electric toggle switch via automation",
+    "Engage the left arm to press the trapezoidal base switch",
+    "Trigger the gray switch with black buttons using the left arm",
+    "Engage the switch with trapezoidal base using the robotic arm",
+    "Activate the the gray base with black buttons using the left arm",
+    "Press the medium switch with trapezoidal base directly",
+    "Engage the medium switch with trapezoidal base with a press.",
+    "Tap the gray switch with black buttons to engage it",
+    "Interact with the gray plastic switch directly",
+    "Activate the handheld switch with the left arm.",
+    "Press the smooth gray switch carefully with the left arm",
+    "Press the switch with trapezoidal base with the left arm",
+    "Click on the plastic switch with matte buttons precisely",
+    "Engage the plastic switch with matte buttons using the left arm",
+    "Activate the gray base with black buttons with robotic precision",
+    "Activate the electric toggle switch via the left arm",
+    "Initiate the gray base with black buttons by clicking",
+    "Move to the smooth gray switch and click it.",
+    "Press the medium switch with trapezoidal base to activate.",
+    "Activate the trapezoidal base switch by pressing it",
+    "Switch the two-button gray switch to its active state",
+    "Deploy the left arm to operate the medium switch with trapezoidal base",
+    "Press the medium switch with trapezoidal base using the left arm.",
+    "Use the left arm to interact with the switch with trapezoidal base",
+    "Set the switch at the gray switch with black buttons",
+    "Operate the left arm to engage the medium switch with trapezoidal base",
+    "Activate the gray smooth surface switch directly",
+    "Locate and press the two-button gray switch",
+    "Direct the left arm to operate the electric toggle switch",
+    "Click the electric toggle switch to activate it",
+    "Interact with the switch with trapezoidal base.",
+    "Set the left arm to press the electric toggle switch",
+    "Approach and tap the handheld switch via the left arm",
+    "Deploy the left arm to press the trapezoidal base switch",
+    "Press the switch with trapezoidal base using robotic control",
+    "Use the left arm for switching the smooth gray switch",
+    "Click the gray switch with black buttons using automated tools",
+    "Trigger the trapezoidal base switch with precision",
+    "Use the left arm to engage the gray plastic switch",
+    "Toggle the two-button gray switch with the left arm.",
+    "Engage the trapezoidal base switch using the left arm."
+  ],
+  "unseen": [
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Move and click the the gray switch",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Move and click the the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm.",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Move and click the the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Move and click the the gray switch",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode315.json b/turn_switch/piper_randomized_500/instructions/episode315.json
new file mode 100644
index 0000000000000000000000000000000000000000..b17b59ced2c950f8baaa252cab53751be70c6227
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode315.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the black switch with slim profile to activate.",
+    "Engage the right arm to press the medium-sized black rectangular switch",
+    "Press the switch with slanted sides using the right arm.",
+    "Trigger the rectangular switch with smooth surface using the right arm",
+    "Operate the rectangular switch with smooth surface with the right arm",
+    "Engage the black switch with slim profile with a press.",
+    "Use the right arm for switching the palm-sized black switch",
+    "Press the medium-sized black rectangular switch with the right arm",
+    "Press the black rectangular control switch via automation",
+    "Activate the control switch with the right arm.",
+    "Move to the black rectangular control switch and click it.",
+    "Activate the compact rectangular black switch directly",
+    "Command the right arm to engage the switch with slanted sides",
+    "Direct the right arm to operate the slanted-edge plastic black switch",
+    "Push the palm-sized black switch via the right arm.",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Engage with the black switch manually",
+    "Deploy the right arm to press the black switch",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Set the right arm to press the black switch",
+    "Engage the medium-sized black rectangular switch using the right arm",
+    "Switch the black rectangular control switch to its active state",
+    "Interact with the switch with slanted sides directly",
+    "Deploy the right arm to operate the switch with slanted sides",
+    "Activate the black switch with matte coating with robotic precision",
+    "Directly interact with the switch with slanted sides",
+    "Click the rectangular switch with smooth surface with robotic precision",
+    "Activate the the sleek black rectangular switch using the right arm",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Toggle the black switch with the right arm.",
+    "Trigger the black switch with precision",
+    "Engage the compact rectangular black switch using the robotic arm",
+    "Locate and press the slanted-edge plastic black switch",
+    "Initiate the black rectangular control switch by clicking",
+    "Press the sleek black rectangular switch carefully with the right arm",
+    "Click the switch with slanted sides using automated tools",
+    "Operate the right arm to engage the palm-sized black switch",
+    "Locate and press the black switch with matte coating",
+    "Approach and tap the rectangular switch with smooth surface via the right arm",
+    "Activate the switch with slanted sides by pressing it",
+    "Click the control switch to activate it",
+    "Press the switch with slanted sides directly",
+    "Activate the sleek black rectangular switch via the right arm",
+    "Trigger the black rectangular control switch without referencing the right arm",
+    "Interact with the black switch.",
+    "Use the right arm to engage the medium-sized black rectangular switch",
+    "Click on the black switch precisely",
+    "Click the palm-sized black switch directly.",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Press the sleek black rectangular switch to activate.",
+    "Engage the right arm to press the black switch with slim profile",
+    "Press the black switch with slim profile using the right arm.",
+    "Trigger the switch with slanted sides using the right arm",
+    "Operate the black switch with slim profile with the right arm",
+    "Engage the black switch with a press.",
+    "Use the right arm for switching the medium-sized black rectangular switch",
+    "Press the slanted-edge plastic black switch with the right arm",
+    "Press the rectangular switch with smooth surface via automation",
+    "Activate the black rectangular control switch with the right arm.",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Activate the black switch with matte coating directly",
+    "Command the right arm to engage the black rectangular control switch",
+    "Direct the right arm to operate the black rectangular control switch",
+    "Push the black rectangular control switch via the right arm.",
+    "Set the switch at the palm-sized black switch",
+    "Engage with the switch with slanted sides manually",
+    "Deploy the right arm to press the compact rectangular black switch",
+    "Use the right arm to interact with the black switch with slim profile",
+    "Set the right arm to press the slanted-edge plastic black switch",
+    "Engage the black rectangular control switch using the right arm",
+    "Switch the slanted-edge plastic black switch to its active state",
+    "Interact with the slanted-edge plastic black switch directly",
+    "Deploy the right arm to operate the compact rectangular black switch",
+    "Activate the black switch with slim profile with robotic precision",
+    "Directly interact with the sleek black rectangular switch",
+    "Click the sleek black rectangular switch with robotic precision",
+    "Activate the the black switch with matte coating using the right arm",
+    "Tap the palm-sized black switch to engage it",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Engage the sleek black rectangular switch using the robotic arm",
+    "Locate and press the slanted-edge plastic black switch",
+    "Initiate the palm-sized black switch by clicking",
+    "Press the black switch carefully with the right arm",
+    "Click the palm-sized black switch using automated tools",
+    "Operate the right arm to engage the black rectangular control switch",
+    "Locate and press the black rectangular control switch",
+    "Approach and tap the black rectangular control switch via the right arm",
+    "Activate the slanted-edge plastic black switch by pressing it",
+    "Click the black rectangular control switch to activate it",
+    "Press the sleek black rectangular switch directly",
+    "Activate the rectangular switch with smooth surface via the right arm",
+    "Trigger the switch with slanted sides without referencing the right arm",
+    "Interact with the rectangular switch with smooth surface.",
+    "Use the right arm to engage the slanted-edge plastic black switch",
+    "Click on the switch with slanted sides precisely",
+    "Click the black switch with matte coating directly.",
+    "Press the slanted-edge plastic black switch using robotic control",
+    "Engage the rectangular switch with smooth surface using the right arm."
+  ],
+  "unseen": [
+    "Move and click the the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode316.json b/turn_switch/piper_randomized_500/instructions/episode316.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5dbaaef1486c9b1e195ce8ff48d0e3f1a5537f0
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode316.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the gray switch with black buttons",
+    "Engage the right arm to press the handheld switch",
+    "Push the gray base with black buttons via the right arm.",
+    "Use the right arm to engage the gray switch with black buttons",
+    "Click on the smooth gray switch precisely",
+    "Click the two-button gray switch to activate it",
+    "Click the smooth gray switch directly.",
+    "Press the gray plastic switch using the right arm.",
+    "Tap the plastic switch with matte buttons to engage it",
+    "Initiate the handheld switch by clicking",
+    "Use the right arm for switching the gray switch with black buttons",
+    "Activate the handheld switch with the right arm.",
+    "Locate and press the switch with trapezoidal base",
+    "Activate the the smooth gray switch using the right arm",
+    "Click the gray plastic switch using automated tools",
+    "Operate the right arm to engage the gray smooth surface switch",
+    "Press the handheld switch carefully with the right arm",
+    "Move to the switch with trapezoidal base and click it.",
+    "Activate the gray base with black buttons directly",
+    "Activate the medium switch with trapezoidal base by pressing it",
+    "Activate the smooth gray switch with robotic precision",
+    "Command the right arm to engage the two-button gray switch",
+    "Engage the gray plastic switch using the right arm",
+    "Directly interact with the medium switch with trapezoidal base",
+    "Locate and press the electric toggle switch",
+    "Press the trapezoidal base switch to activate.",
+    "Trigger the gray base with black buttons with precision",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Trigger the handheld switch without referencing the right arm",
+    "Approach and tap the handheld switch via the right arm",
+    "Toggle the plastic switch with matte buttons with the right arm.",
+    "Set the right arm to press the medium switch with trapezoidal base",
+    "Deploy the right arm to operate the gray plastic switch",
+    "Interact with the gray smooth surface switch directly",
+    "Direct the right arm to operate the two-button gray switch",
+    "Interact with the gray smooth surface switch.",
+    "Engage the switch with trapezoidal base with a press.",
+    "Press the gray plastic switch with the right arm",
+    "Trigger the plastic switch with matte buttons using the right arm",
+    "Engage the smooth gray switch using the robotic arm",
+    "Deploy the right arm to press the electric toggle switch",
+    "Use the right arm to interact with the handheld switch",
+    "Engage with the trapezoidal base switch manually",
+    "Press the handheld switch via automation",
+    "Engage the trapezoidal base switch using the right arm.",
+    "Switch the gray plastic switch to its active state",
+    "Click the electric toggle switch with robotic precision",
+    "Press the smooth gray switch directly",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Activate the gray base with black buttons via the right arm",
+    "Set the switch at the switch with trapezoidal base",
+    "Engage the right arm to press the gray plastic switch",
+    "Push the trapezoidal base switch via the right arm.",
+    "Use the right arm to engage the smooth gray switch",
+    "Click on the medium switch with trapezoidal base precisely",
+    "Click the medium switch with trapezoidal base to activate it",
+    "Click the gray switch with black buttons directly.",
+    "Press the gray smooth surface switch using the right arm.",
+    "Tap the gray plastic switch to engage it",
+    "Initiate the handheld switch by clicking",
+    "Use the right arm for switching the trapezoidal base switch",
+    "Activate the gray switch with black buttons with the right arm.",
+    "Locate and press the gray smooth surface switch",
+    "Activate the the handheld switch using the right arm",
+    "Click the switch with trapezoidal base using automated tools",
+    "Operate the right arm to engage the two-button gray switch",
+    "Press the gray plastic switch carefully with the right arm",
+    "Move to the gray plastic switch and click it.",
+    "Activate the electric toggle switch directly",
+    "Activate the electric toggle switch by pressing it",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Command the right arm to engage the gray base with black buttons",
+    "Engage the gray smooth surface switch using the right arm",
+    "Directly interact with the handheld switch",
+    "Locate and press the medium switch with trapezoidal base",
+    "Press the gray smooth surface switch to activate.",
+    "Trigger the electric toggle switch with precision",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Trigger the smooth gray switch without referencing the right arm",
+    "Approach and tap the gray smooth surface switch via the right arm",
+    "Toggle the gray plastic switch with the right arm.",
+    "Set the right arm to press the gray plastic switch",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Interact with the plastic switch with matte buttons directly",
+    "Direct the right arm to operate the gray base with black buttons",
+    "Interact with the two-button gray switch.",
+    "Engage the electric toggle switch with a press.",
+    "Press the medium switch with trapezoidal base with the right arm",
+    "Trigger the gray plastic switch using the right arm",
+    "Engage the smooth gray switch using the robotic arm",
+    "Deploy the right arm to press the smooth gray switch",
+    "Use the right arm to interact with the gray smooth surface switch",
+    "Engage with the gray switch with black buttons manually",
+    "Press the handheld switch via automation",
+    "Engage the medium switch with trapezoidal base using the right arm.",
+    "Switch the gray plastic switch to its active state",
+    "Click the gray base with black buttons with robotic precision",
+    "Press the two-button gray switch directly",
+    "Operate the gray switch with black buttons with the right arm",
+    "Activate the gray base with black buttons via the right arm"
+  ],
+  "unseen": [
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch using the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Move and click the the gray switch",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Press the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch using the right arm",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Activate the switch at the gray switch medium size"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode317.json b/turn_switch/piper_randomized_500/instructions/episode317.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8fe6c9394c787fbbfe9c10d7261052413d07aca
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode317.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the left arm to press the smooth gray switch",
+    "Press the gray plastic switch with the left arm",
+    "Trigger the two-button gray switch without referencing the left arm",
+    "Push the two-button gray switch via the left arm.",
+    "Tap the medium switch with trapezoidal base to engage it",
+    "Engage the gray smooth surface switch using the left arm.",
+    "Use the left arm for switching the switch with trapezoidal base",
+    "Activate the two-button gray switch directly",
+    "Directly interact with the handheld switch",
+    "Activate the gray base with black buttons with the left arm.",
+    "Operate the left arm to engage the trapezoidal base switch",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Engage the plastic switch with matte buttons using the robotic arm",
+    "Trigger the gray smooth surface switch with precision",
+    "Activate the the smooth gray switch using the left arm",
+    "Direct the left arm to operate the two-button gray switch",
+    "Set the switch at the medium switch with trapezoidal base",
+    "Press the two-button gray switch to activate.",
+    "Press the gray smooth surface switch carefully with the left arm",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Command the left arm to engage the gray base with black buttons",
+    "Engage the medium switch with trapezoidal base using the left arm",
+    "Activate the gray base with black buttons by pressing it",
+    "Engage the medium switch with trapezoidal base with a press.",
+    "Operate the smooth gray switch with the left arm",
+    "Activate the plastic switch with matte buttons with robotic precision",
+    "Locate and press the medium switch with trapezoidal base",
+    "Toggle the gray smooth surface switch with the left arm.",
+    "Press the gray plastic switch via automation",
+    "Trigger the electric toggle switch using the left arm",
+    "Use the left arm to interact with the medium switch with trapezoidal base",
+    "Approach and tap the gray switch with black buttons via the left arm",
+    "Engage the left arm to press the handheld switch",
+    "Deploy the left arm to operate the plastic switch with matte buttons",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage with the gray switch with black buttons manually",
+    "Use the left arm to engage the electric toggle switch",
+    "Click the two-button gray switch directly.",
+    "Activate the trapezoidal base switch via the left arm",
+    "Locate and press the gray plastic switch",
+    "Press the plastic switch with matte buttons directly",
+    "Interact with the gray smooth surface switch.",
+    "Click on the switch with trapezoidal base precisely",
+    "Press the plastic switch with matte buttons using the left arm.",
+    "Click the medium switch with trapezoidal base to activate it",
+    "Click the handheld switch with robotic precision",
+    "Move to the smooth gray switch and click it.",
+    "Click the plastic switch with matte buttons using automated tools",
+    "Deploy the left arm to press the two-button gray switch",
+    "Set the left arm to press the smooth gray switch",
+    "Press the trapezoidal base switch with the left arm",
+    "Trigger the electric toggle switch without referencing the left arm",
+    "Push the smooth gray switch via the left arm.",
+    "Tap the plastic switch with matte buttons to engage it",
+    "Engage the electric toggle switch using the left arm.",
+    "Use the left arm for switching the medium switch with trapezoidal base",
+    "Activate the gray switch with black buttons directly",
+    "Directly interact with the two-button gray switch",
+    "Activate the switch with trapezoidal base with the left arm.",
+    "Operate the left arm to engage the switch with trapezoidal base",
+    "Switch the two-button gray switch to its active state",
+    "Initiate the handheld switch by clicking",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Trigger the gray base with black buttons with precision",
+    "Activate the the electric toggle switch using the left arm",
+    "Direct the left arm to operate the plastic switch with matte buttons",
+    "Set the switch at the gray plastic switch",
+    "Press the electric toggle switch to activate.",
+    "Press the gray switch with black buttons carefully with the left arm",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Command the left arm to engage the gray base with black buttons",
+    "Engage the gray base with black buttons using the left arm",
+    "Activate the gray smooth surface switch by pressing it",
+    "Engage the gray switch with black buttons with a press.",
+    "Operate the medium switch with trapezoidal base with the left arm",
+    "Activate the gray smooth surface switch with robotic precision",
+    "Locate and press the gray smooth surface switch",
+    "Toggle the smooth gray switch with the left arm.",
+    "Press the medium switch with trapezoidal base via automation",
+    "Trigger the gray plastic switch using the left arm",
+    "Use the left arm to interact with the plastic switch with matte buttons",
+    "Approach and tap the two-button gray switch via the left arm",
+    "Engage the left arm to press the gray base with black buttons",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage with the smooth gray switch manually",
+    "Use the left arm to engage the gray smooth surface switch",
+    "Click the two-button gray switch directly.",
+    "Activate the switch with trapezoidal base via the left arm",
+    "Locate and press the smooth gray switch",
+    "Press the smooth gray switch directly",
+    "Interact with the smooth gray switch.",
+    "Click on the trapezoidal base switch precisely",
+    "Press the trapezoidal base switch using the left arm.",
+    "Click the plastic switch with matte buttons to activate it",
+    "Click the gray plastic switch with robotic precision",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Click the switch with trapezoidal base using automated tools",
+    "Deploy the left arm to press the gray base with black buttons"
+  ],
+  "unseen": [
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Press the gray switch using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch",
+    "Use the left arm to press the gray switch medium size."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode319.json b/turn_switch/piper_randomized_500/instructions/episode319.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f83463cdd9ed57d7bd9cab07cce82ec387ee64
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode319.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Approach and tap the light plastic switch via the right arm",
+    "Use the right arm for switching the small trapezoid switch",
+    "Deploy the right arm to operate the beige switch with smooth finish",
+    "Locate and press the hand-sized light beige switch",
+    "Operate the beige switch with smooth finish with the right arm",
+    "Engage the switch with brown button using the right arm",
+    "Press the small trapezoid switch to activate.",
+    "Activate the switch with brown button with the right arm.",
+    "Engage the right arm to press the hand-sized light beige switch",
+    "Initiate the switch with brown button by clicking",
+    "Activate the toggle switch with brown rectangle button by pressing it",
+    "Switch the switch with rectangular dark button to its active state",
+    "Push the toggle switch with brown rectangle button via the right arm.",
+    "Engage the beige switch with smooth finish using the right arm.",
+    "Press the matte beige switch with flat top with the right arm",
+    "Click on the small trapezoid switch precisely",
+    "Press the switch with rectangular dark button via automation",
+    "Press the small trapezoid switch using robotic control",
+    "Tap the switch with brown button to engage it",
+    "Click the switch with a smooth top to activate it",
+    "Direct the right arm to operate the beige switch with smooth finish",
+    "Interact with the beige switch with smooth finish.",
+    "Engage the hand-sized light beige switch with a press.",
+    "Activate the the matte beige switch with flat top using the right arm",
+    "Press the beige switch directly",
+    "Interact with the switch with a smooth top directly",
+    "Click the matte beige switch with flat top using automated tools",
+    "Use the right arm to interact with the switch with rectangular dark button",
+    "Engage with the tiny matte beige toggle switch manually",
+    "Click the switch with brown button directly.",
+    "Trigger the toggle switch with brown rectangle button without referencing the right arm",
+    "Engage the switch with rectangular dark button using the robotic arm",
+    "Trigger the hand-sized light beige switch using the right arm",
+    "Press the switch with brown button using the right arm.",
+    "Use the right arm to engage the beige switch with smooth finish",
+    "Deploy the right arm to press the hand-sized light beige switch",
+    "Directly interact with the matte beige switch with flat top",
+    "Operate the right arm to engage the light plastic switch",
+    "Set the switch at the switch with brown button",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Locate and press the hand-sized light beige switch",
+    "Trigger the switch with brown button with precision",
+    "Click the switch with brown button with robotic precision",
+    "Set the right arm to press the hand-sized light beige switch",
+    "Press the toggle switch with brown rectangle button carefully with the right arm",
+    "Move to the beige switch and click it.",
+    "Activate the switch with rectangular dark button with robotic precision",
+    "Command the right arm to engage the switch with a smooth top",
+    "Activate the hand-sized light beige switch via the right arm",
+    "Activate the beige switch with smooth finish directly",
+    "Approach and tap the matte beige switch with flat top via the right arm",
+    "Use the right arm for switching the switch with rectangular dark button",
+    "Deploy the right arm to operate the tiny matte beige toggle switch",
+    "Locate and press the switch with a smooth top",
+    "Operate the beige switch with the right arm",
+    "Engage the small trapezoid switch using the right arm",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Activate the switch with rectangular dark button with the right arm.",
+    "Engage the right arm to press the switch with a smooth top",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Activate the light plastic switch by pressing it",
+    "Switch the toggle switch with brown rectangle button to its active state",
+    "Push the beige switch with smooth finish via the right arm.",
+    "Engage the toggle switch with brown rectangle button using the right arm.",
+    "Press the light plastic switch with the right arm",
+    "Click on the switch with brown button precisely",
+    "Press the hand-sized light beige switch via automation",
+    "Press the hand-sized light beige switch using robotic control",
+    "Tap the hand-sized light beige switch to engage it",
+    "Click the beige switch to activate it",
+    "Direct the right arm to operate the tiny matte beige toggle switch",
+    "Interact with the small trapezoid switch.",
+    "Engage the hand-sized light beige switch with a press.",
+    "Activate the the beige switch with smooth finish using the right arm",
+    "Press the hand-sized light beige switch directly",
+    "Interact with the switch with brown button directly",
+    "Click the beige switch with smooth finish using automated tools",
+    "Use the right arm to interact with the switch with brown button",
+    "Engage with the small trapezoid switch manually",
+    "Click the switch with a smooth top directly.",
+    "Trigger the switch with brown button without referencing the right arm",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Trigger the toggle switch with brown rectangle button using the right arm",
+    "Press the toggle switch with brown rectangle button using the right arm.",
+    "Use the right arm to engage the light plastic switch",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Directly interact with the light-colored trapezoid-shaped plastic switch",
+    "Operate the right arm to engage the beige switch",
+    "Set the switch at the beige switch",
+    "Toggle the switch with rectangular dark button with the right arm.",
+    "Locate and press the hand-sized light beige switch",
+    "Trigger the beige switch with smooth finish with precision",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Set the right arm to press the hand-sized light beige switch",
+    "Press the switch with rectangular dark button carefully with the right arm",
+    "Move to the switch with a smooth top and click it.",
+    "Activate the light plastic switch with robotic precision",
+    "Command the right arm to engage the beige switch with smooth finish",
+    "Activate the switch with a smooth top via the right arm",
+    "Activate the hand-sized light beige switch directly"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode32.json b/turn_switch/piper_randomized_500/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fedd3737e4cc44d6cc09487cc7870e598d5cc45
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the black switch with metallic connectors",
+    "Press the red and black switch directly",
+    "Click on the red and black switch precisely",
+    "Engage the hand-sized switch with connector prongs using the left arm",
+    "Click the switch with curved red toggle using automated tools",
+    "Initiate the black base switch with red toggle by clicking",
+    "Engage the left arm to press the plastic switch with metal terminals",
+    "Locate and press the rectangular black plastic switch",
+    "Use the left arm to interact with the black switch",
+    "Press the compact switch with toggle on top with the left arm",
+    "Press the compact switch with toggle on top carefully with the left arm",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Engage the compact switch with toggle on top with a press.",
+    "Trigger the black switch without referencing the left arm",
+    "Activate the compact switch with toggle on top via the left arm",
+    "Trigger the compact switch with toggle on top using the left arm",
+    "Toggle the red and black switch with the left arm.",
+    "Push the black base switch with red toggle via the left arm.",
+    "Operate the red and black switch with the left arm",
+    "Move to the rectangular switch with curved lever and click it.",
+    "Click the rectangular black plastic switch to activate it",
+    "Activate the rectangular black plastic switch directly",
+    "Locate and press the red and black switch",
+    "Interact with the black switch directly",
+    "Engage the compact switch with toggle on top using the robotic arm",
+    "Deploy the left arm to operate the black base switch with red toggle",
+    "Activate the small switch with the left arm.",
+    "Command the left arm to engage the compact switch with toggle on top",
+    "Deploy the left arm to press the small switch",
+    "Tap the black switch to engage it",
+    "Approach and tap the black switch with metallic connectors via the left arm",
+    "Activate the black switch with robotic precision",
+    "Use the left arm for switching the compact switch with toggle on top",
+    "Switch the small switch to its active state",
+    "Click the plastic switch with metal terminals directly.",
+    "Engage the black base switch with red toggle using the left arm.",
+    "Press the black switch with metallic connectors using the left arm.",
+    "Set the switch at the small switch",
+    "Press the red-top black switch to activate.",
+    "Use the left arm to engage the black base switch with red toggle",
+    "Activate the switch with curved red toggle by pressing it",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Interact with the red and black switch.",
+    "Set the left arm to press the plastic switch with metal terminals",
+    "Operate the left arm to engage the red-top black switch",
+    "Press the black switch with metallic connectors using robotic control",
+    "Direct the left arm to operate the rectangular switch with curved lever",
+    "Activate the the plastic switch with metal terminals using the left arm",
+    "Engage with the rectangular switch with curved lever manually",
+    "Press the small switch via automation",
+    "Directly interact with the black switch with metallic connectors",
+    "Press the black base switch with red toggle directly",
+    "Click on the red-top black switch precisely",
+    "Engage the plastic switch with metal terminals using the left arm",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Engage the left arm to press the rectangular switch with curved lever",
+    "Locate and press the black switch",
+    "Use the left arm to interact with the black base switch with red toggle",
+    "Press the red-top black switch with the left arm",
+    "Press the red-top black switch carefully with the left arm",
+    "Click the hand-sized switch with connector prongs with robotic precision",
+    "Engage the switch with curved red toggle with a press.",
+    "Trigger the rectangular black plastic switch without referencing the left arm",
+    "Activate the rectangular black plastic switch via the left arm",
+    "Trigger the plastic switch with metal terminals using the left arm",
+    "Toggle the small switch with the left arm.",
+    "Push the black switch with metallic connectors via the left arm.",
+    "Operate the black base switch with red toggle with the left arm",
+    "Move to the switch with curved red toggle and click it.",
+    "Click the red-top black switch to activate it",
+    "Activate the red-top black switch directly",
+    "Locate and press the switch with curved red toggle",
+    "Interact with the plastic switch with metal terminals directly",
+    "Engage the black base switch with red toggle using the robotic arm",
+    "Deploy the left arm to operate the black base switch with red toggle",
+    "Activate the small switch with the left arm.",
+    "Command the left arm to engage the rectangular switch with curved lever",
+    "Deploy the left arm to press the compact switch with toggle on top",
+    "Tap the small switch to engage it",
+    "Approach and tap the rectangular black plastic switch via the left arm",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Use the left arm for switching the red and black switch",
+    "Switch the red and black switch to its active state",
+    "Click the compact switch with toggle on top directly.",
+    "Engage the rectangular switch with curved lever using the left arm.",
+    "Press the small switch using the left arm.",
+    "Set the switch at the compact switch with toggle on top",
+    "Press the black switch with metallic connectors to activate.",
+    "Use the left arm to engage the rectangular black plastic switch",
+    "Activate the hand-sized switch with connector prongs by pressing it",
+    "Trigger the switch with curved red toggle with precision",
+    "Interact with the red and black switch.",
+    "Set the left arm to press the red-top black switch",
+    "Operate the left arm to engage the compact switch with toggle on top",
+    "Press the switch with curved red toggle using robotic control",
+    "Direct the left arm to operate the rectangular switch with curved lever",
+    "Activate the the red and black switch using the left arm",
+    "Engage with the red and black switch manually",
+    "Press the rectangular black plastic switch via automation"
+  ],
+  "unseen": [
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode320.json b/turn_switch/piper_randomized_500/instructions/episode320.json
new file mode 100644
index 0000000000000000000000000000000000000000..f38cf05a3d571340b4260c64bfa214a6702d48b4
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode320.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the toggle switch with brown rectangle button using the left arm.",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Click on the matte beige switch with flat top precisely",
+    "Engage the left arm to press the switch with a smooth top",
+    "Use the left arm to interact with the small trapezoid switch",
+    "Deploy the left arm to operate the matte beige switch with flat top",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Click the beige switch with smooth finish using automated tools",
+    "Tap the beige switch with smooth finish to engage it",
+    "Switch the beige switch to its active state",
+    "Directly interact with the switch with a smooth top",
+    "Activate the the matte beige switch with flat top using the left arm",
+    "Command the left arm to engage the small trapezoid switch",
+    "Click the tiny matte beige toggle switch directly.",
+    "Engage the switch with rectangular dark button using the robotic arm",
+    "Press the light plastic switch to activate.",
+    "Use the left arm for switching the toggle switch with brown rectangle button",
+    "Direct the left arm to operate the switch with brown button",
+    "Engage the toggle switch with brown rectangle button using the left arm",
+    "Initiate the small trapezoid switch by clicking",
+    "Press the matte beige switch with flat top using robotic control",
+    "Interact with the beige switch with smooth finish.",
+    "Activate the hand-sized light beige switch with robotic precision",
+    "Activate the switch with brown button directly",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Press the light plastic switch directly",
+    "Operate the beige switch with the left arm",
+    "Set the switch at the beige switch with smooth finish",
+    "Push the tiny matte beige toggle switch via the left arm.",
+    "Operate the left arm to engage the switch with rectangular dark button",
+    "Move to the switch with brown button and click it.",
+    "Press the switch with a smooth top with the left arm",
+    "Engage with the switch with a smooth top manually",
+    "Trigger the switch with rectangular dark button without referencing the left arm",
+    "Activate the beige switch with the left arm.",
+    "Deploy the left arm to press the beige switch with smooth finish",
+    "Activate the beige switch via the left arm",
+    "Click the beige switch with robotic precision",
+    "Use the left arm to engage the switch with rectangular dark button",
+    "Trigger the toggle switch with brown rectangle button with precision",
+    "Press the tiny matte beige toggle switch via automation",
+    "Locate and press the matte beige switch with flat top",
+    "Press the hand-sized light beige switch using the left arm.",
+    "Set the left arm to press the switch with rectangular dark button",
+    "Engage the light-colored trapezoid-shaped plastic switch with a press.",
+    "Press the beige switch with smooth finish carefully with the left arm",
+    "Toggle the small trapezoid switch with the left arm.",
+    "Click the light-colored trapezoid-shaped plastic switch to activate it",
+    "Trigger the small trapezoid switch using the left arm",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Engage the left arm to press the toggle switch with brown rectangle button",
+    "Use the left arm to interact with the light plastic switch",
+    "Deploy the left arm to operate the light plastic switch",
+    "Interact with the light plastic switch directly",
+    "Click the beige switch using automated tools",
+    "Tap the beige switch with smooth finish to engage it",
+    "Switch the light plastic switch to its active state",
+    "Directly interact with the beige switch",
+    "Activate the the switch with rectangular dark button using the left arm",
+    "Command the left arm to engage the light plastic switch",
+    "Click the beige switch directly.",
+    "Engage the beige switch using the robotic arm",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Use the left arm for switching the hand-sized light beige switch",
+    "Direct the left arm to operate the switch with brown button",
+    "Engage the tiny matte beige toggle switch using the left arm",
+    "Initiate the switch with brown button by clicking",
+    "Press the switch with brown button using robotic control",
+    "Interact with the beige switch with smooth finish.",
+    "Activate the switch with brown button with robotic precision",
+    "Activate the switch with a smooth top directly",
+    "Approach and tap the switch with a smooth top via the left arm",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Operate the light plastic switch with the left arm",
+    "Set the switch at the switch with brown button",
+    "Push the light plastic switch via the left arm.",
+    "Operate the left arm to engage the beige switch",
+    "Move to the beige switch and click it.",
+    "Press the toggle switch with brown rectangle button with the left arm",
+    "Engage with the matte beige switch with flat top manually",
+    "Trigger the switch with a smooth top without referencing the left arm",
+    "Activate the tiny matte beige toggle switch with the left arm.",
+    "Deploy the left arm to press the small trapezoid switch",
+    "Activate the matte beige switch with flat top via the left arm",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Use the left arm to engage the switch with brown button",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Press the switch with brown button via automation",
+    "Locate and press the beige switch with smooth finish",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Set the left arm to press the light plastic switch",
+    "Engage the switch with a smooth top with a press.",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the left arm",
+    "Toggle the light plastic switch with the left arm.",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Trigger the toggle switch with brown rectangle button using the left arm",
+    "Locate and press the beige switch with smooth finish"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode323.json b/turn_switch/piper_randomized_500/instructions/episode323.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bab7c464948adf2f39488009674771bbbc3384d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode323.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the smooth red switch with labels using automated tools",
+    "Engage the rectangular switch with a press.",
+    "Click on the toggle switch with black housing precisely",
+    "Direct the left arm to operate the small switch with red lever",
+    "Set the switch at the tiny rectangular switch",
+    "Press the metal-pronged black switch using robotic control",
+    "Trigger the black base switch without referencing the left arm",
+    "Press the red and black electrical switch via automation",
+    "Activate the switch for turning circuits on off with the left arm.",
+    "Locate and press the tiny rectangular switch",
+    "Trigger the small switch with red lever using the left arm",
+    "Activate the plastic switch with metal prongs with robotic precision",
+    "Use the left arm to engage the switch with three metal pins",
+    "Engage the two-tone red black switch using the left arm.",
+    "Deploy the left arm to operate the tiny rectangular switch",
+    "Use the left arm to interact with the red and black electrical switch",
+    "Press the metal-pronged black switch with the left arm",
+    "Engage the smooth red switch with labels using the left arm",
+    "Activate the metal-pronged black switch by pressing it",
+    "Press the plastic switch with metal prongs to activate.",
+    "Deploy the left arm to press the metal-pronged black switch",
+    "Engage with the smooth red switch with labels manually",
+    "Press the black base switch directly",
+    "Press the red and black electrical switch carefully with the left arm",
+    "Activate the rectangular switch via the left arm",
+    "Operate the metal-pronged black switch with the left arm",
+    "Activate the the smooth red switch with labels using the left arm",
+    "Interact with the switch with three metal pins.",
+    "Trigger the two-tone red black switch with precision",
+    "Tap the red and black electrical switch to engage it",
+    "Interact with the metal-pronged black switch directly",
+    "Engage the left arm to press the toggle switch with black housing",
+    "Switch the black base switch to its active state",
+    "Locate and press the two-tone red black switch",
+    "Push the toggle switch with black housing via the left arm.",
+    "Use the left arm for switching the small switch with red lever",
+    "Move to the rectangular switch and click it.",
+    "Set the left arm to press the black base switch",
+    "Operate the left arm to engage the metal-pronged black switch",
+    "Activate the metal-pronged black switch directly",
+    "Directly interact with the red and black electrical switch",
+    "Initiate the switch with three metal pins by clicking",
+    "Approach and tap the two-tone red black switch via the left arm",
+    "Command the left arm to engage the metal-pronged black switch",
+    "Click the switch with three metal pins to activate it",
+    "Click the rectangular switch directly.",
+    "Engage the toggle switch with black housing using the robotic arm",
+    "Toggle the red and black electrical switch with the left arm.",
+    "Press the smooth red switch with labels using the left arm.",
+    "Click the metal-pronged black switch with robotic precision",
+    "Click the smooth red switch with labels using automated tools",
+    "Engage the red and black electrical switch with a press.",
+    "Click on the smooth red switch with labels precisely",
+    "Direct the left arm to operate the switch for turning circuits on off",
+    "Set the switch at the tiny rectangular switch",
+    "Press the red and black electrical switch using robotic control",
+    "Trigger the toggle switch with black housing without referencing the left arm",
+    "Press the two-tone red black switch via automation",
+    "Activate the tiny rectangular switch with the left arm.",
+    "Locate and press the plastic switch with metal prongs",
+    "Trigger the red and black electrical switch using the left arm",
+    "Activate the rectangular switch with robotic precision",
+    "Use the left arm to engage the switch for turning circuits on off",
+    "Engage the rectangular switch using the left arm.",
+    "Deploy the left arm to operate the switch for turning circuits on off",
+    "Use the left arm to interact with the rectangular switch",
+    "Press the rectangular switch with the left arm",
+    "Engage the smooth red switch with labels using the left arm",
+    "Activate the toggle switch with black housing by pressing it",
+    "Press the red and black electrical switch to activate.",
+    "Deploy the left arm to press the two-tone red black switch",
+    "Engage with the plastic switch with metal prongs manually",
+    "Press the black base switch directly",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Activate the switch for turning circuits on off via the left arm",
+    "Operate the switch with three metal pins with the left arm",
+    "Activate the the smooth red switch with labels using the left arm",
+    "Interact with the switch for turning circuits on off.",
+    "Trigger the switch with three metal pins with precision",
+    "Tap the rectangular switch to engage it",
+    "Interact with the rectangular switch directly",
+    "Engage the left arm to press the plastic switch with metal prongs",
+    "Switch the switch with three metal pins to its active state",
+    "Locate and press the red and black electrical switch",
+    "Push the small switch with red lever via the left arm.",
+    "Use the left arm for switching the black base switch",
+    "Move to the small switch with red lever and click it.",
+    "Set the left arm to press the metal-pronged black switch",
+    "Operate the left arm to engage the metal-pronged black switch",
+    "Activate the two-tone red black switch directly",
+    "Directly interact with the plastic switch with metal prongs",
+    "Initiate the smooth red switch with labels by clicking",
+    "Approach and tap the toggle switch with black housing via the left arm",
+    "Command the left arm to engage the smooth red switch with labels",
+    "Click the two-tone red black switch to activate it",
+    "Click the smooth red switch with labels directly.",
+    "Engage the small switch with red lever using the robotic arm",
+    "Toggle the two-tone red black switch with the left arm.",
+    "Press the black base switch using the left arm.",
+    "Click the red and black electrical switch with robotic precision"
+  ],
+  "unseen": [
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Press the curved toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Press the red toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode324.json b/turn_switch/piper_randomized_500/instructions/episode324.json
new file mode 100644
index 0000000000000000000000000000000000000000..d79562949f896642f4f923ec75828ec5a4bbbd9a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode324.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the small switch",
+    "Engage the rectangular switch with curved lever using the left arm.",
+    "Operate the red and black switch with the left arm",
+    "Approach and tap the black switch via the left arm",
+    "Toggle the hand-sized switch with connector prongs with the left arm.",
+    "Press the black switch via automation",
+    "Click the rectangular switch with curved lever to activate it",
+    "Click the black base switch with red toggle with robotic precision",
+    "Activate the switch with curved red toggle by pressing it",
+    "Engage the left arm to press the plastic switch with metal terminals",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Activate the red and black switch with the left arm.",
+    "Activate the the small switch using the left arm",
+    "Set the switch at the switch with curved red toggle",
+    "Trigger the plastic switch with metal terminals with precision",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Trigger the black base switch with red toggle without referencing the left arm",
+    "Click the plastic switch with metal terminals using automated tools",
+    "Trigger the red and black switch using the left arm",
+    "Press the red-top black switch directly",
+    "Press the hand-sized switch with connector prongs carefully with the left arm",
+    "Direct the left arm to operate the plastic switch with metal terminals",
+    "Interact with the small switch directly",
+    "Activate the rectangular switch with curved lever directly",
+    "Operate the left arm to engage the black switch",
+    "Deploy the left arm to operate the black switch",
+    "Press the black switch using the left arm.",
+    "Click the plastic switch with metal terminals directly.",
+    "Engage the black switch with metallic connectors with a press.",
+    "Set the left arm to press the plastic switch with metal terminals",
+    "Press the switch with curved red toggle using robotic control",
+    "Move to the red and black switch and click it.",
+    "Command the left arm to engage the black base switch with red toggle",
+    "Use the left arm to interact with the rectangular black plastic switch",
+    "Use the left arm to engage the black base switch with red toggle",
+    "Switch the compact switch with toggle on top to its active state",
+    "Activate the black switch with metallic connectors via the left arm",
+    "Press the rectangular black plastic switch with the left arm",
+    "Locate and press the black switch with metallic connectors",
+    "Click on the rectangular switch with curved lever precisely",
+    "Push the black switch with metallic connectors via the left arm.",
+    "Engage the black switch with metallic connectors using the left arm",
+    "Directly interact with the black switch",
+    "Use the left arm for switching the compact switch with toggle on top",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Deploy the left arm to press the rectangular black plastic switch",
+    "Press the red and black switch to activate.",
+    "Engage with the hand-sized switch with connector prongs manually",
+    "Interact with the black switch with metallic connectors.",
+    "Engage the black base switch with red toggle using the robotic arm",
+    "Locate and press the rectangular black plastic switch",
+    "Engage the black base switch with red toggle using the left arm.",
+    "Operate the rectangular switch with curved lever with the left arm",
+    "Approach and tap the plastic switch with metal terminals via the left arm",
+    "Toggle the red and black switch with the left arm.",
+    "Press the black switch with metallic connectors via automation",
+    "Click the red-top black switch to activate it",
+    "Click the black switch with metallic connectors with robotic precision",
+    "Activate the black switch by pressing it",
+    "Engage the left arm to press the rectangular black plastic switch",
+    "Tap the rectangular black plastic switch to engage it",
+    "Activate the rectangular switch with curved lever with the left arm.",
+    "Activate the the black switch with metallic connectors using the left arm",
+    "Set the switch at the red-top black switch",
+    "Trigger the switch with curved red toggle with precision",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Trigger the red and black switch without referencing the left arm",
+    "Click the black base switch with red toggle using automated tools",
+    "Trigger the black base switch with red toggle using the left arm",
+    "Press the plastic switch with metal terminals directly",
+    "Press the small switch carefully with the left arm",
+    "Direct the left arm to operate the compact switch with toggle on top",
+    "Interact with the rectangular switch with curved lever directly",
+    "Activate the black switch directly",
+    "Operate the left arm to engage the black switch with metallic connectors",
+    "Deploy the left arm to operate the switch with curved red toggle",
+    "Press the plastic switch with metal terminals using the left arm.",
+    "Click the black base switch with red toggle directly.",
+    "Engage the plastic switch with metal terminals with a press.",
+    "Set the left arm to press the red and black switch",
+    "Press the compact switch with toggle on top using robotic control",
+    "Move to the black switch and click it.",
+    "Command the left arm to engage the red and black switch",
+    "Use the left arm to interact with the plastic switch with metal terminals",
+    "Use the left arm to engage the hand-sized switch with connector prongs",
+    "Switch the black switch to its active state",
+    "Activate the hand-sized switch with connector prongs via the left arm",
+    "Press the red-top black switch with the left arm",
+    "Locate and press the red-top black switch",
+    "Click on the black base switch with red toggle precisely",
+    "Push the rectangular black plastic switch via the left arm.",
+    "Engage the black base switch with red toggle using the left arm",
+    "Directly interact with the black switch",
+    "Use the left arm for switching the hand-sized switch with connector prongs",
+    "Initiate the black switch by clicking",
+    "Deploy the left arm to press the red-top black switch",
+    "Press the rectangular switch with curved lever to activate.",
+    "Engage with the switch with curved red toggle manually",
+    "Interact with the compact switch with toggle on top.",
+    "Engage the red and black switch using the robotic arm"
+  ],
+  "unseen": [
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode325.json b/turn_switch/piper_randomized_500/instructions/episode325.json
new file mode 100644
index 0000000000000000000000000000000000000000..450c31622cfae9e35ede51eaaa1cae28e29083b7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode325.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the switch with slanted sides by clicking",
+    "Engage with the black switch with slim profile manually",
+    "Click the compact rectangular black switch directly.",
+    "Engage the rectangular switch with smooth surface using the left arm",
+    "Engage the left arm to press the palm-sized black switch",
+    "Use the left arm for switching the black switch with slim profile",
+    "Press the compact rectangular black switch with the left arm",
+    "Command the left arm to engage the palm-sized black switch",
+    "Operate the compact rectangular black switch with the left arm",
+    "Toggle the sleek black rectangular switch with the left arm.",
+    "Set the left arm to press the compact rectangular black switch",
+    "Press the black switch with matte coating carefully with the left arm",
+    "Click the switch with slanted sides with robotic precision",
+    "Press the palm-sized black switch using the left arm.",
+    "Click the black switch with slim profile using automated tools",
+    "Move to the black switch with slim profile and click it.",
+    "Approach and tap the black switch with matte coating via the left arm",
+    "Activate the the rectangular switch with smooth surface using the left arm",
+    "Interact with the compact rectangular black switch.",
+    "Use the left arm to engage the black switch with slim profile",
+    "Press the medium-sized black rectangular switch via automation",
+    "Press the palm-sized black switch to activate.",
+    "Activate the black switch directly",
+    "Locate and press the black switch",
+    "Trigger the black switch with slim profile using the left arm",
+    "Activate the medium-sized black rectangular switch with robotic precision",
+    "Press the sleek black rectangular switch using robotic control",
+    "Activate the black rectangular control switch with the left arm.",
+    "Click on the compact rectangular black switch precisely",
+    "Trigger the control switch with precision",
+    "Locate and press the black switch with matte coating",
+    "Engage the palm-sized black switch using the robotic arm",
+    "Interact with the black switch with slim profile directly",
+    "Activate the black switch via the left arm",
+    "Press the slanted-edge plastic black switch directly",
+    "Direct the left arm to operate the black switch",
+    "Tap the black switch with slim profile to engage it",
+    "Use the left arm to interact with the medium-sized black rectangular switch",
+    "Engage the slanted-edge plastic black switch with a press.",
+    "Engage the palm-sized black switch using the left arm.",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Operate the left arm to engage the rectangular switch with smooth surface",
+    "Click the control switch to activate it",
+    "Directly interact with the switch with slanted sides",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Push the compact rectangular black switch via the left arm.",
+    "Switch the black switch with matte coating to its active state",
+    "Deploy the left arm to operate the black rectangular control switch",
+    "Deploy the left arm to press the control switch",
+    "Trigger the compact rectangular black switch without referencing the left arm",
+    "Initiate the palm-sized black switch by clicking",
+    "Engage with the rectangular switch with smooth surface manually",
+    "Click the black switch directly.",
+    "Engage the switch with slanted sides using the left arm",
+    "Engage the left arm to press the compact rectangular black switch",
+    "Use the left arm for switching the black switch",
+    "Press the medium-sized black rectangular switch with the left arm",
+    "Command the left arm to engage the black switch",
+    "Operate the rectangular switch with smooth surface with the left arm",
+    "Toggle the black switch with matte coating with the left arm.",
+    "Set the left arm to press the medium-sized black rectangular switch",
+    "Press the black rectangular control switch carefully with the left arm",
+    "Click the palm-sized black switch with robotic precision",
+    "Press the compact rectangular black switch using the left arm.",
+    "Click the compact rectangular black switch using automated tools",
+    "Move to the sleek black rectangular switch and click it.",
+    "Approach and tap the sleek black rectangular switch via the left arm",
+    "Activate the the black switch using the left arm",
+    "Interact with the control switch.",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Press the switch with slanted sides via automation",
+    "Press the sleek black rectangular switch to activate.",
+    "Activate the sleek black rectangular switch directly",
+    "Locate and press the switch with slanted sides",
+    "Trigger the sleek black rectangular switch using the left arm",
+    "Activate the sleek black rectangular switch with robotic precision",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Activate the palm-sized black switch with the left arm.",
+    "Click on the sleek black rectangular switch precisely",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Locate and press the compact rectangular black switch",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Interact with the palm-sized black switch directly",
+    "Activate the black rectangular control switch via the left arm",
+    "Press the rectangular switch with smooth surface directly",
+    "Direct the left arm to operate the switch with slanted sides",
+    "Tap the compact rectangular black switch to engage it",
+    "Use the left arm to interact with the control switch",
+    "Engage the control switch with a press.",
+    "Engage the rectangular switch with smooth surface using the left arm.",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Operate the left arm to engage the sleek black rectangular switch",
+    "Click the compact rectangular black switch to activate it",
+    "Directly interact with the switch with slanted sides",
+    "Set the switch at the black switch with slim profile",
+    "Push the compact rectangular black switch via the left arm.",
+    "Switch the black rectangular control switch to its active state",
+    "Deploy the left arm to operate the black switch with matte coating",
+    "Deploy the left arm to press the black switch with matte coating",
+    "Trigger the switch with slanted sides without referencing the left arm"
+  ],
+  "unseen": [
+    "Click the smooth black switch with the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch with the left arm.",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm.",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the left arm to click the matte black plastic switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode326.json b/turn_switch/piper_randomized_500/instructions/episode326.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8dc0d5921aa341851b9c335a6dad12d1f3f448f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode326.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch for electrical control using robotic control",
+    "Activate the compact switch with flat base via the right arm",
+    "Press the switch with thin red toggle directly",
+    "Locate and press the plastic gray body switch",
+    "Locate and press the toggle switch light gray base",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Deploy the right arm to press the switch",
+    "Operate the right arm to engage the square switch with red bar",
+    "Interact with the control switch with red lever.",
+    "Push the red bar switch via the right arm.",
+    "Trigger the gray switch with red toggle without referencing the right arm",
+    "Activate the switch with thin red toggle by pressing it",
+    "Engage the square switch with red bar using the right arm",
+    "Press the control switch with red lever carefully with the right arm",
+    "Press the compact switch with flat base to activate.",
+    "Click the red bar switch using automated tools",
+    "Set the right arm to press the electrical switch with protruding toggle",
+    "Engage with the gray switch with red toggle manually",
+    "Tap the square switch with red bar to engage it",
+    "Click the switch with thin red toggle directly.",
+    "Engage the switch with a press.",
+    "Switch the switch to its active state",
+    "Use the right arm to engage the gray switch with red toggle",
+    "Activate the plastic gray body switch with robotic precision",
+    "Click the plastic gray body switch with robotic precision",
+    "Use the right arm for switching the light gray square switch",
+    "Interact with the switch for electrical control directly",
+    "Set the switch at the square switch with red bar",
+    "Move to the electrical switch with protruding toggle and click it.",
+    "Click on the gray switch with red toggle precisely",
+    "Press the switch with thin red toggle using the right arm.",
+    "Activate the square switch with red bar directly",
+    "Toggle the switch with the right arm.",
+    "Use the right arm to interact with the switch",
+    "Trigger the plastic gray body switch using the right arm",
+    "Engage the right arm to press the switch",
+    "Engage the red bar switch using the robotic arm",
+    "Deploy the right arm to operate the electrical switch with protruding toggle",
+    "Press the switch via automation",
+    "Direct the right arm to operate the switch for electrical control",
+    "Click the red bar switch to activate it",
+    "Command the right arm to engage the red bar switch",
+    "Directly interact with the switch for electrical control",
+    "Initiate the control switch with red lever by clicking",
+    "Approach and tap the compact switch with flat base via the right arm",
+    "Engage the square switch with red bar using the right arm.",
+    "Activate the switch for electrical control with the right arm.",
+    "Operate the gray switch with red toggle with the right arm",
+    "Trigger the compact switch with flat base with precision",
+    "Press the toggle switch light gray base with the right arm",
+    "Press the switch for electrical control using robotic control",
+    "Activate the control switch with red lever via the right arm",
+    "Press the switch with thin red toggle directly",
+    "Locate and press the light gray square switch",
+    "Locate and press the switch with thin red toggle",
+    "Activate the the control switch with red lever using the right arm",
+    "Deploy the right arm to press the light gray square switch",
+    "Operate the right arm to engage the red bar switch",
+    "Interact with the control switch with red lever.",
+    "Push the control switch with red lever via the right arm.",
+    "Trigger the switch with thin red toggle without referencing the right arm",
+    "Activate the plastic gray body switch by pressing it",
+    "Engage the light gray square switch using the right arm",
+    "Press the plastic gray body switch carefully with the right arm",
+    "Press the light gray square switch to activate.",
+    "Click the switch using automated tools",
+    "Set the right arm to press the gray switch with red toggle",
+    "Engage with the switch manually",
+    "Tap the switch for electrical control to engage it",
+    "Click the red bar switch directly.",
+    "Engage the toggle switch light gray base with a press.",
+    "Switch the light gray square switch to its active state",
+    "Use the right arm to engage the switch with thin red toggle",
+    "Activate the plastic gray body switch with robotic precision",
+    "Click the switch for electrical control with robotic precision",
+    "Use the right arm for switching the switch for electrical control",
+    "Interact with the toggle switch light gray base directly",
+    "Set the switch at the toggle switch light gray base",
+    "Move to the gray switch with red toggle and click it.",
+    "Click on the compact switch with flat base precisely",
+    "Press the electrical switch with protruding toggle using the right arm.",
+    "Activate the switch for electrical control directly",
+    "Toggle the light gray square switch with the right arm.",
+    "Use the right arm to interact with the control switch with red lever",
+    "Trigger the switch with thin red toggle using the right arm",
+    "Engage the right arm to press the plastic gray body switch",
+    "Engage the square switch with red bar using the robotic arm",
+    "Deploy the right arm to operate the square switch with red bar",
+    "Press the switch for electrical control via automation",
+    "Direct the right arm to operate the red bar switch",
+    "Click the switch for electrical control to activate it",
+    "Command the right arm to engage the electrical switch with protruding toggle",
+    "Directly interact with the gray switch with red toggle",
+    "Initiate the plastic gray body switch by clicking",
+    "Approach and tap the square switch with red bar via the right arm",
+    "Engage the compact switch with flat base using the right arm.",
+    "Activate the light gray square switch with the right arm.",
+    "Operate the gray switch with red toggle with the right arm",
+    "Trigger the control switch with red lever with precision",
+    "Press the switch with thin red toggle with the right arm"
+  ],
+  "unseen": [
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Press the flat square gray switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode327.json b/turn_switch/piper_randomized_500/instructions/episode327.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e06f2fba70434fdad52d700be30e97909c16e3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode327.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Press the small light tan switch using the right arm.",
+    "Trigger the flat switch without referencing the right arm",
+    "Use the right arm to engage the rectangular switch with slanted sides",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Press the small light tan switch via automation",
+    "Tap the tan switch to engage it",
+    "Click the switch with darker rectangle using automated tools",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Engage the angled switch light tan color using the right arm",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Activate the light tan rectangular switch smooth finish via the right arm",
+    "Activate the smooth tan switch with textured sides by pressing it",
+    "Engage the switch with darker rectangle using the robotic arm",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Deploy the right arm to press the rectangular switch with slanted sides",
+    "Engage the right arm to press the switch trapezoid shape brown marking",
+    "Push the switch with darker rectangle via the right arm.",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Activate the the angled switch light tan color using the right arm",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Engage the plastic switch with angled edges with a press.",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Locate and press the small light tan switch",
+    "Switch the rectangular switch with slanted sides to its active state",
+    "Set the switch at the plastic switch with angled edges",
+    "Approach and tap the smooth tan switch with textured sides via the right arm",
+    "Engage the tan switch using the right arm.",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Move to the small light tan switch and click it.",
+    "Click the switch with darker rectangle to activate it",
+    "Command the right arm to engage the flat switch",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Initiate the small light tan switch by clicking",
+    "Press the flat switch with the right arm",
+    "Set the right arm to press the tan switch",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Toggle the switch trapezoid shape brown marking with the right arm.",
+    "Press the flat switch using robotic control",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Click the tan switch with robotic precision",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Activate the tan switch with the right arm.",
+    "Activate the plastic switch with angled edges directly",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Deploy the right arm to operate the light tan rectangular switch smooth finish",
+    "Direct the right arm to operate the trapezoid-shaped switch smooth surface",
+    "Operate the angled switch light tan color with the right arm",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Trigger the tan switch without referencing the right arm",
+    "Use the right arm to engage the rectangular switch with slanted sides",
+    "Trigger the hand-sized switch tan smooth finish using the right arm",
+    "Press the angled switch light tan color via automation",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Click the angled switch light tan color using automated tools",
+    "Locate and press the plastic switch with angled edges",
+    "Engage the hand-sized switch tan smooth finish using the right arm",
+    "Press the tan switch directly",
+    "Activate the angled switch light tan color via the right arm",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Interact with the rectangular switch with slanted sides.",
+    "Deploy the right arm to press the tan switch",
+    "Engage the right arm to press the tan switch",
+    "Push the plastic switch with angled edges via the right arm.",
+    "Activate the tan switch with robotic precision",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Trigger the small light tan switch with precision",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Engage the angled switch light tan color with a press.",
+    "Press the switch with darker rectangle to activate.",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Switch the angled switch light tan color to its active state",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Engage the flat switch using the right arm.",
+    "Use the right arm for switching the small light tan switch",
+    "Move to the tan switch and click it.",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Press the hand-sized switch tan smooth finish carefully with the right arm",
+    "Initiate the flat switch by clicking",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Set the right arm to press the switch with darker rectangle",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Click on the switch with darker rectangle precisely",
+    "Toggle the rectangular switch with slanted sides with the right arm.",
+    "Press the switch with darker rectangle using robotic control",
+    "Use the right arm to interact with the tan switch",
+    "Operate the right arm to engage the small light tan switch",
+    "Click the switch with darker rectangle with robotic precision",
+    "Directly interact with the tan switch",
+    "Activate the tan switch with the right arm.",
+    "Activate the switch with darker rectangle directly",
+    "Click the smooth tan switch with textured sides directly.",
+    "Deploy the right arm to operate the small light tan switch",
+    "Direct the right arm to operate the plastic switch with angled edges"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode328.json b/turn_switch/piper_randomized_500/instructions/episode328.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e663aff4b1cdcc36f0e9312eb0591597e1662d8
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode328.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the square gray switch panel carefully with the left arm",
+    "Activate the angled-edge gray square switch directly",
+    "Use the left arm to interact with the flat square with raised center",
+    "Engage the small square switch using the robotic arm",
+    "Press the smooth gray switch via automation",
+    "Interact with the angled-edge gray square switch directly",
+    "Trigger the square gray switch panel with precision",
+    "Activate the light gray plastic switch by pressing it",
+    "Engage the smooth gray switch using the left arm.",
+    "Click on the switch for electrical control precisely",
+    "Engage the angled-edge gray square switch with a press.",
+    "Locate and press the switch with smooth light gray finish",
+    "Direct the left arm to operate the small square switch",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Trigger the switch with smooth light gray finish without referencing the left arm",
+    "Press the smooth gray switch using the left arm.",
+    "Engage with the switch for electrical control manually",
+    "Use the left arm for switching the smooth gray switch",
+    "Activate the square gray switch panel with the left arm.",
+    "Command the left arm to engage the palm-sized light gray switch",
+    "Move to the smooth gray switch and click it.",
+    "Set the switch at the smooth gray switch",
+    "Interact with the square switch with smooth surface.",
+    "Trigger the light gray plastic switch using the left arm",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Press the switch for electrical control to activate.",
+    "Approach and tap the switch with smooth light gray finish via the left arm",
+    "Push the square gray switch panel via the left arm.",
+    "Press the palm-sized light gray switch using robotic control",
+    "Locate and press the angled-edge gray square switch",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Switch the flat square with raised center to its active state",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Set the left arm to press the switch for electrical control",
+    "Deploy the left arm to press the angled-edge gray square switch",
+    "Toggle the switch with rectangular raised area with the left arm.",
+    "Press the switch with smooth light gray finish directly",
+    "Directly interact with the angled-edge gray square switch",
+    "Click the small square switch made of plastic directly.",
+    "Tap the small square switch to engage it",
+    "Click the small square switch to activate it",
+    "Press the angled-edge gray square switch with the left arm",
+    "Operate the palm-sized light gray switch with the left arm",
+    "Activate the flat square with raised center with robotic precision",
+    "Engage the palm-sized light gray switch using the left arm",
+    "Use the left arm to engage the switch with smooth light gray finish",
+    "Click the switch with rectangular raised area using automated tools",
+    "Activate the the switch with rectangular raised area using the left arm",
+    "Deploy the left arm to operate the light gray plastic switch",
+    "Activate the flat square with raised center via the left arm",
+    "Press the angled-edge gray square switch carefully with the left arm",
+    "Activate the palm-sized light gray switch directly",
+    "Use the left arm to interact with the angled-edge gray square switch",
+    "Engage the palm-sized light gray switch using the robotic arm",
+    "Press the switch for electrical control via automation",
+    "Interact with the small square switch made of plastic directly",
+    "Trigger the square switch with smooth surface with precision",
+    "Activate the light gray plastic switch by pressing it",
+    "Engage the small square switch using the left arm.",
+    "Click on the square switch with smooth surface precisely",
+    "Engage the switch for electrical control with a press.",
+    "Locate and press the palm-sized light gray switch",
+    "Direct the left arm to operate the small square switch made of plastic",
+    "Initiate the light gray plastic switch by clicking",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Press the switch with rectangular raised area using the left arm.",
+    "Engage with the square switch with smooth surface manually",
+    "Use the left arm for switching the angled-edge gray square switch",
+    "Activate the flat square with raised center with the left arm.",
+    "Command the left arm to engage the palm-sized light gray switch",
+    "Move to the small square switch and click it.",
+    "Set the switch at the switch for electrical control",
+    "Interact with the small square switch.",
+    "Trigger the palm-sized light gray switch using the left arm",
+    "Engage the left arm to press the square switch with smooth surface",
+    "Press the switch with rectangular raised area to activate.",
+    "Approach and tap the square switch with smooth surface via the left arm",
+    "Push the angled-edge gray square switch via the left arm.",
+    "Press the angled-edge gray square switch using robotic control",
+    "Locate and press the square switch with smooth surface",
+    "Click the small square switch made of plastic with robotic precision",
+    "Switch the flat square with raised center to its active state",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Set the left arm to press the switch for electrical control",
+    "Deploy the left arm to press the palm-sized light gray switch",
+    "Toggle the small square switch with the left arm.",
+    "Press the switch for electrical control directly",
+    "Directly interact with the switch for electrical control",
+    "Click the smooth gray switch directly.",
+    "Tap the switch with rectangular raised area to engage it",
+    "Click the flat square with raised center to activate it",
+    "Press the light gray plastic switch with the left arm",
+    "Operate the square switch with smooth surface with the left arm",
+    "Activate the switch with smooth light gray finish with robotic precision",
+    "Engage the switch with rectangular raised area using the left arm",
+    "Use the left arm to engage the square gray switch panel",
+    "Click the small square switch made of plastic using automated tools",
+    "Activate the the square gray switch panel using the left arm",
+    "Deploy the left arm to operate the flat square with raised center",
+    "Activate the switch with rectangular raised area via the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch using the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Direct the left arm to click the flat gray switch",
+    "Click the flat gray switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode330.json b/turn_switch/piper_randomized_500/instructions/episode330.json
new file mode 100644
index 0000000000000000000000000000000000000000..aada25f0d1e6d5381d7f4553580ea035a4943824
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode330.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the rectangular switch with slanted sides with a press.",
+    "Use the right arm to engage the tan switch",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Press the switch trapezoid shape brown marking directly",
+    "Engage the right arm to press the switch with darker rectangle",
+    "Interact with the small light tan switch.",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Move to the angled switch light tan color and click it.",
+    "Trigger the switch trapezoid shape brown marking without referencing the right arm",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Press the small light tan switch using the right arm.",
+    "Push the angled switch light tan color via the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Engage the plastic switch with angled edges using the right arm.",
+    "Locate and press the plastic switch with angled edges",
+    "Click the small light tan switch to activate it",
+    "Click the flat switch using automated tools",
+    "Activate the plastic switch with angled edges directly",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Operate the flat switch with the right arm",
+    "Activate the the switch trapezoid shape brown marking using the right arm",
+    "Direct the right arm to operate the small light tan switch",
+    "Activate the tan switch by pressing it",
+    "Operate the right arm to engage the tan switch",
+    "Click on the trapezoid-shaped switch smooth surface precisely",
+    "Engage with the rectangular switch with slanted sides manually",
+    "Engage the angled switch light tan color using the right arm",
+    "Click the switch with darker rectangle with robotic precision",
+    "Command the right arm to engage the angled switch light tan color",
+    "Use the right arm for switching the switch trapezoid shape brown marking",
+    "Switch the flat switch to its active state",
+    "Press the flat switch via automation",
+    "Approach and tap the switch with darker rectangle via the right arm",
+    "Interact with the small light tan switch directly",
+    "Initiate the small light tan switch by clicking",
+    "Locate and press the plastic switch with angled edges",
+    "Press the flat switch carefully with the right arm",
+    "Set the right arm to press the smooth tan switch with textured sides",
+    "Toggle the rectangular switch with slanted sides with the right arm.",
+    "Trigger the smooth tan switch with textured sides using the right arm",
+    "Trigger the hand-sized switch tan smooth finish with precision",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Tap the tan switch to engage it",
+    "Activate the hand-sized switch tan smooth finish via the right arm",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Use the right arm to engage the flat switch",
+    "Deploy the right arm to press the rectangular switch with slanted sides",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Press the switch with darker rectangle directly",
+    "Engage the right arm to press the light tan rectangular switch smooth finish",
+    "Interact with the switch with darker rectangle.",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Trigger the tan switch without referencing the right arm",
+    "Press the flat switch using robotic control",
+    "Activate the small light tan switch with the right arm.",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Engage the switch with darker rectangle using the robotic arm",
+    "Engage the small light tan switch using the right arm.",
+    "Locate and press the switch with darker rectangle",
+    "Click the small light tan switch to activate it",
+    "Click the switch with darker rectangle using automated tools",
+    "Activate the plastic switch with angled edges directly",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Activate the the flat switch using the right arm",
+    "Direct the right arm to operate the angled switch light tan color",
+    "Activate the switch with darker rectangle by pressing it",
+    "Operate the right arm to engage the small light tan switch",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Engage the plastic switch with angled edges using the right arm",
+    "Click the small light tan switch with robotic precision",
+    "Command the right arm to engage the switch trapezoid shape brown marking",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Switch the flat switch to its active state",
+    "Press the switch with darker rectangle via automation",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Interact with the trapezoid-shaped switch smooth surface directly",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Locate and press the small light tan switch",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Set the right arm to press the small light tan switch",
+    "Toggle the switch with darker rectangle with the right arm.",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Press the small light tan switch with the right arm",
+    "Tap the flat switch to engage it",
+    "Activate the rectangular switch with slanted sides via the right arm",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode331.json b/turn_switch/piper_randomized_500/instructions/episode331.json
new file mode 100644
index 0000000000000000000000000000000000000000..638de50e09068d354794079af242bc20c9915bd1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode331.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the square switch with red bar using the right arm.",
+    "Direct the right arm to operate the switch",
+    "Switch the gray switch with red toggle to its active state",
+    "Deploy the right arm to operate the toggle switch light gray base",
+    "Trigger the gray switch with red toggle without referencing the right arm",
+    "Press the control switch with red lever with the right arm",
+    "Interact with the control switch with red lever directly",
+    "Command the right arm to engage the electrical switch with protruding toggle",
+    "Tap the gray switch with red toggle to engage it",
+    "Use the right arm to interact with the gray switch with red toggle",
+    "Activate the square switch with red bar via the right arm",
+    "Push the switch via the right arm.",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Activate the plastic gray body switch with robotic precision",
+    "Set the right arm to press the toggle switch light gray base",
+    "Activate the toggle switch light gray base by pressing it",
+    "Locate and press the electrical switch with protruding toggle",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Initiate the electrical switch with protruding toggle by clicking",
+    "Set the switch at the switch with thin red toggle",
+    "Engage the switch with thin red toggle using the right arm",
+    "Trigger the compact switch with flat base with precision",
+    "Engage the right arm to press the red bar switch",
+    "Engage the switch with a press.",
+    "Deploy the right arm to press the switch",
+    "Interact with the gray switch with red toggle.",
+    "Click on the compact switch with flat base precisely",
+    "Press the switch carefully with the right arm",
+    "Press the switch for electrical control directly",
+    "Directly interact with the compact switch with flat base",
+    "Click the plastic gray body switch using automated tools",
+    "Press the switch for electrical control via automation",
+    "Press the light gray square switch using the right arm.",
+    "Press the switch with thin red toggle to activate.",
+    "Use the right arm to engage the switch for electrical control",
+    "Click the light gray square switch directly.",
+    "Toggle the gray switch with red toggle with the right arm.",
+    "Approach and tap the toggle switch light gray base via the right arm",
+    "Activate the the square switch with red bar using the right arm",
+    "Engage with the switch manually",
+    "Activate the plastic gray body switch with the right arm.",
+    "Move to the switch with thin red toggle and click it.",
+    "Operate the right arm to engage the plastic gray body switch",
+    "Operate the plastic gray body switch with the right arm",
+    "Locate and press the switch for electrical control",
+    "Activate the red bar switch directly",
+    "Click the gray switch with red toggle to activate it",
+    "Click the switch with robotic precision",
+    "Press the compact switch with flat base using robotic control",
+    "Use the right arm for switching the square switch with red bar",
+    "Engage the electrical switch with protruding toggle using the right arm.",
+    "Direct the right arm to operate the control switch with red lever",
+    "Switch the switch to its active state",
+    "Deploy the right arm to operate the square switch with red bar",
+    "Trigger the switch with thin red toggle without referencing the right arm",
+    "Press the gray switch with red toggle with the right arm",
+    "Interact with the plastic gray body switch directly",
+    "Command the right arm to engage the light gray square switch",
+    "Tap the compact switch with flat base to engage it",
+    "Use the right arm to interact with the square switch with red bar",
+    "Activate the electrical switch with protruding toggle via the right arm",
+    "Push the light gray square switch via the right arm.",
+    "Trigger the switch for electrical control using the right arm",
+    "Activate the toggle switch light gray base with robotic precision",
+    "Set the right arm to press the switch with thin red toggle",
+    "Activate the switch with thin red toggle by pressing it",
+    "Locate and press the plastic gray body switch",
+    "Engage the toggle switch light gray base using the robotic arm",
+    "Initiate the compact switch with flat base by clicking",
+    "Set the switch at the electrical switch with protruding toggle",
+    "Engage the toggle switch light gray base using the right arm",
+    "Trigger the light gray square switch with precision",
+    "Engage the right arm to press the control switch with red lever",
+    "Engage the gray switch with red toggle with a press.",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Interact with the plastic gray body switch.",
+    "Click on the compact switch with flat base precisely",
+    "Press the switch with thin red toggle carefully with the right arm",
+    "Press the control switch with red lever directly",
+    "Directly interact with the plastic gray body switch",
+    "Click the light gray square switch using automated tools",
+    "Press the gray switch with red toggle via automation",
+    "Press the toggle switch light gray base using the right arm.",
+    "Press the plastic gray body switch to activate.",
+    "Use the right arm to engage the switch for electrical control",
+    "Click the red bar switch directly.",
+    "Toggle the compact switch with flat base with the right arm.",
+    "Approach and tap the switch via the right arm",
+    "Activate the the square switch with red bar using the right arm",
+    "Engage with the compact switch with flat base manually",
+    "Activate the red bar switch with the right arm.",
+    "Move to the electrical switch with protruding toggle and click it.",
+    "Operate the right arm to engage the toggle switch light gray base",
+    "Operate the compact switch with flat base with the right arm",
+    "Locate and press the light gray square switch",
+    "Activate the square switch with red bar directly",
+    "Click the switch with thin red toggle to activate it",
+    "Click the light gray square switch with robotic precision",
+    "Press the light gray square switch using robotic control",
+    "Use the right arm for switching the control switch with red lever"
+  ],
+  "unseen": [
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch using the right arm",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode332.json b/turn_switch/piper_randomized_500/instructions/episode332.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13cab63f8a60c76a292fd528f97fd4444c581ad
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode332.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the handheld switch using the right arm",
+    "Press the gray base with black buttons to activate.",
+    "Press the switch with trapezoidal base with the right arm",
+    "Activate the gray base with black buttons with robotic precision",
+    "Engage the gray switch with black buttons using the robotic arm",
+    "Interact with the plastic switch with matte buttons.",
+    "Click the electric toggle switch with robotic precision",
+    "Use the right arm for switching the two-button gray switch",
+    "Set the switch at the plastic switch with matte buttons",
+    "Press the trapezoidal base switch carefully with the right arm",
+    "Activate the smooth gray switch with the right arm.",
+    "Switch the gray base with black buttons to its active state",
+    "Set the right arm to press the gray base with black buttons",
+    "Use the right arm to engage the handheld switch",
+    "Interact with the gray smooth surface switch directly",
+    "Press the gray base with black buttons directly",
+    "Initiate the gray base with black buttons by clicking",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Toggle the gray base with black buttons with the right arm.",
+    "Click the gray smooth surface switch to activate it",
+    "Operate the switch with trapezoidal base with the right arm",
+    "Deploy the right arm to press the smooth gray switch",
+    "Activate the the plastic switch with matte buttons using the right arm",
+    "Activate the switch with trapezoidal base directly",
+    "Activate the smooth gray switch via the right arm",
+    "Tap the switch with trapezoidal base to engage it",
+    "Push the gray plastic switch via the right arm.",
+    "Press the two-button gray switch using robotic control",
+    "Direct the right arm to operate the gray switch with black buttons",
+    "Operate the right arm to engage the two-button gray switch",
+    "Engage with the handheld switch manually",
+    "Engage the gray switch with black buttons using the right arm.",
+    "Activate the electric toggle switch by pressing it",
+    "Locate and press the gray switch with black buttons",
+    "Trigger the gray plastic switch with precision",
+    "Deploy the right arm to operate the two-button gray switch",
+    "Press the gray switch with black buttons using the right arm.",
+    "Locate and press the gray smooth surface switch",
+    "Press the switch with trapezoidal base via automation",
+    "Click the gray plastic switch directly.",
+    "Directly interact with the trapezoidal base switch",
+    "Engage the right arm to press the handheld switch",
+    "Approach and tap the electric toggle switch via the right arm",
+    "Use the right arm to interact with the handheld switch",
+    "Click the medium switch with trapezoidal base using automated tools",
+    "Trigger the plastic switch with matte buttons without referencing the right arm",
+    "Command the right arm to engage the plastic switch with matte buttons",
+    "Engage the smooth gray switch with a press.",
+    "Click on the gray switch with black buttons precisely",
+    "Trigger the medium switch with trapezoidal base using the right arm",
+    "Engage the smooth gray switch using the right arm",
+    "Press the smooth gray switch to activate.",
+    "Press the gray switch with black buttons with the right arm",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Engage the smooth gray switch using the robotic arm",
+    "Interact with the trapezoidal base switch.",
+    "Click the gray base with black buttons with robotic precision",
+    "Use the right arm for switching the switch with trapezoidal base",
+    "Set the switch at the plastic switch with matte buttons",
+    "Press the gray smooth surface switch carefully with the right arm",
+    "Activate the gray base with black buttons with the right arm.",
+    "Switch the smooth gray switch to its active state",
+    "Set the right arm to press the gray plastic switch",
+    "Use the right arm to engage the gray plastic switch",
+    "Interact with the gray smooth surface switch directly",
+    "Press the medium switch with trapezoidal base directly",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Move to the gray base with black buttons and click it.",
+    "Toggle the electric toggle switch with the right arm.",
+    "Click the electric toggle switch to activate it",
+    "Operate the gray smooth surface switch with the right arm",
+    "Deploy the right arm to press the trapezoidal base switch",
+    "Activate the the smooth gray switch using the right arm",
+    "Activate the gray plastic switch directly",
+    "Activate the electric toggle switch via the right arm",
+    "Tap the smooth gray switch to engage it",
+    "Push the trapezoidal base switch via the right arm.",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Direct the right arm to operate the gray switch with black buttons",
+    "Operate the right arm to engage the gray smooth surface switch",
+    "Engage with the plastic switch with matte buttons manually",
+    "Engage the medium switch with trapezoidal base using the right arm.",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Locate and press the two-button gray switch",
+    "Trigger the gray plastic switch with precision",
+    "Deploy the right arm to operate the gray plastic switch",
+    "Press the handheld switch using the right arm.",
+    "Locate and press the plastic switch with matte buttons",
+    "Press the gray smooth surface switch via automation",
+    "Click the gray base with black buttons directly.",
+    "Directly interact with the gray base with black buttons",
+    "Engage the right arm to press the smooth gray switch",
+    "Approach and tap the medium switch with trapezoidal base via the right arm",
+    "Use the right arm to interact with the gray smooth surface switch",
+    "Click the handheld switch using automated tools",
+    "Trigger the trapezoidal base switch without referencing the right arm",
+    "Command the right arm to engage the gray smooth surface switch",
+    "Engage the gray smooth surface switch with a press.",
+    "Click on the trapezoidal base switch precisely",
+    "Trigger the electric toggle switch using the right arm"
+  ],
+  "unseen": [
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch",
+    "Click the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode333.json b/turn_switch/piper_randomized_500/instructions/episode333.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1ddcc2ae9171532e05f74eec4844e73818f942
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode333.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Engage with the tan switch manually",
+    "Interact with the flat switch.",
+    "Push the switch with darker rectangle via the right arm.",
+    "Trigger the angled switch light tan color without referencing the right arm",
+    "Set the switch at the flat switch",
+    "Locate and press the plastic switch with angled edges",
+    "Activate the flat switch directly",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Activate the small light tan switch by pressing it",
+    "Command the right arm to engage the rectangular switch with slanted sides",
+    "Activate the the smooth tan switch with textured sides using the right arm",
+    "Press the switch with darker rectangle using robotic control",
+    "Click the switch with darker rectangle using automated tools",
+    "Locate and press the flat switch",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Interact with the light tan rectangular switch smooth finish directly",
+    "Click the tan switch directly.",
+    "Use the right arm to interact with the light tan rectangular switch smooth finish",
+    "Move to the angled switch light tan color and click it.",
+    "Press the small light tan switch via automation",
+    "Press the smooth tan switch with textured sides directly",
+    "Deploy the right arm to press the hand-sized switch tan smooth finish",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Engage the switch with darker rectangle using the right arm.",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Press the switch trapezoid shape brown marking with the right arm",
+    "Engage the right arm to press the trapezoid-shaped switch smooth surface",
+    "Initiate the switch with darker rectangle by clicking",
+    "Operate the switch with darker rectangle with the right arm",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Trigger the switch with darker rectangle using the right arm",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Set the right arm to press the tan switch",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Use the right arm for switching the tan switch",
+    "Press the small light tan switch to activate.",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Engage the small light tan switch using the robotic arm",
+    "Switch the tan switch to its active state",
+    "Click the angled switch light tan color to activate it",
+    "Tap the flat switch to engage it",
+    "Engage with the small light tan switch manually",
+    "Interact with the smooth tan switch with textured sides.",
+    "Push the hand-sized switch tan smooth finish via the right arm.",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Set the switch at the angled switch light tan color",
+    "Locate and press the angled switch light tan color",
+    "Activate the trapezoid-shaped switch smooth surface directly",
+    "Activate the tan switch via the right arm",
+    "Approach and tap the tan switch via the right arm",
+    "Activate the switch with darker rectangle by pressing it",
+    "Command the right arm to engage the flat switch",
+    "Activate the the flat switch using the right arm",
+    "Press the hand-sized switch tan smooth finish using robotic control",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Locate and press the switch with darker rectangle",
+    "Activate the plastic switch with angled edges with the right arm.",
+    "Deploy the right arm to operate the switch trapezoid shape brown marking",
+    "Engage the angled switch light tan color using the right arm",
+    "Interact with the tan switch directly",
+    "Click the tan switch directly.",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Press the trapezoid-shaped switch smooth surface via automation",
+    "Press the rectangular switch with slanted sides directly",
+    "Deploy the right arm to press the trapezoid-shaped switch smooth surface",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm.",
+    "Directly interact with the tan switch",
+    "Press the smooth tan switch with textured sides using the right arm.",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Press the angled switch light tan color with the right arm",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Initiate the flat switch by clicking",
+    "Operate the light tan rectangular switch smooth finish with the right arm",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Trigger the plastic switch with angled edges with precision",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Operate the right arm to engage the plastic switch with angled edges",
+    "Set the right arm to press the hand-sized switch tan smooth finish",
+    "Activate the small light tan switch with robotic precision",
+    "Use the right arm for switching the small light tan switch",
+    "Press the tan switch to activate.",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Press the switch with darker rectangle carefully with the right arm",
+    "Engage the flat switch using the robotic arm",
+    "Switch the tan switch to its active state",
+    "Click the light tan rectangular switch smooth finish to activate it"
+  ],
+  "unseen": [
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode337.json b/turn_switch/piper_randomized_500/instructions/episode337.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f36d3dedc52499d539d8c8a34c8b239467aa178
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode337.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the palm-sized light gray switch via the left arm",
+    "Engage the palm-sized light gray switch using the left arm.",
+    "Set the left arm to press the switch for electrical control",
+    "Locate and press the switch with rectangular raised area",
+    "Toggle the square switch with smooth surface with the left arm.",
+    "Engage the square switch with smooth surface using the left arm",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Press the switch for electrical control directly",
+    "Set the switch at the small square switch made of plastic",
+    "Use the left arm for switching the angled-edge gray square switch",
+    "Press the small square switch to activate.",
+    "Activate the small square switch with robotic precision",
+    "Activate the palm-sized light gray switch directly",
+    "Press the switch with smooth light gray finish using robotic control",
+    "Use the left arm to engage the light gray plastic switch",
+    "Command the left arm to engage the switch for electrical control",
+    "Interact with the square switch with smooth surface directly",
+    "Engage the palm-sized light gray switch with a press.",
+    "Approach and tap the switch with smooth light gray finish via the left arm",
+    "Press the angled-edge gray square switch with the left arm",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Directly interact with the switch with smooth light gray finish",
+    "Trigger the small square switch made of plastic without referencing the left arm",
+    "Engage the switch with rectangular raised area using the robotic arm",
+    "Tap the square switch with smooth surface to engage it",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Press the switch for electrical control via automation",
+    "Click the small square switch made of plastic directly.",
+    "Activate the palm-sized light gray switch with the left arm.",
+    "Click the smooth gray switch to activate it",
+    "Engage with the switch with rectangular raised area manually",
+    "Locate and press the small square switch made of plastic",
+    "Move to the smooth gray switch and click it.",
+    "Activate the smooth gray switch by pressing it",
+    "Trigger the small square switch with precision",
+    "Press the small square switch carefully with the left arm",
+    "Switch the smooth gray switch to its active state",
+    "Trigger the square switch with smooth surface using the left arm",
+    "Click the angled-edge gray square switch using automated tools",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Engage the left arm to press the palm-sized light gray switch",
+    "Direct the left arm to operate the switch with smooth light gray finish",
+    "Use the left arm to interact with the smooth gray switch",
+    "Interact with the flat square with raised center.",
+    "Push the square gray switch panel via the left arm.",
+    "Operate the left arm to engage the angled-edge gray square switch",
+    "Click on the square gray switch panel precisely",
+    "Operate the angled-edge gray square switch with the left arm",
+    "Deploy the left arm to press the square gray switch panel",
+    "Press the switch with rectangular raised area using the left arm.",
+    "Activate the smooth gray switch via the left arm",
+    "Engage the flat square with raised center using the left arm.",
+    "Set the left arm to press the light gray plastic switch",
+    "Locate and press the square switch with smooth surface",
+    "Toggle the small square switch with the left arm.",
+    "Engage the angled-edge gray square switch using the left arm",
+    "Activate the the angled-edge gray square switch using the left arm",
+    "Press the flat square with raised center directly",
+    "Set the switch at the small square switch made of plastic",
+    "Use the left arm for switching the switch with rectangular raised area",
+    "Press the square gray switch panel to activate.",
+    "Activate the small square switch with robotic precision",
+    "Activate the smooth gray switch directly",
+    "Press the flat square with raised center using robotic control",
+    "Use the left arm to engage the angled-edge gray square switch",
+    "Command the left arm to engage the switch with smooth light gray finish",
+    "Interact with the angled-edge gray square switch directly",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Approach and tap the small square switch made of plastic via the left arm",
+    "Press the palm-sized light gray switch with the left arm",
+    "Click the flat square with raised center with robotic precision",
+    "Directly interact with the small square switch made of plastic",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Tap the palm-sized light gray switch to engage it",
+    "Initiate the small square switch made of plastic by clicking",
+    "Press the small square switch made of plastic via automation",
+    "Click the smooth gray switch directly.",
+    "Activate the light gray plastic switch with the left arm.",
+    "Click the square gray switch panel to activate it",
+    "Engage with the smooth gray switch manually",
+    "Locate and press the switch for electrical control",
+    "Move to the square switch with smooth surface and click it.",
+    "Activate the small square switch made of plastic by pressing it",
+    "Trigger the light gray plastic switch with precision",
+    "Press the small square switch made of plastic carefully with the left arm",
+    "Switch the smooth gray switch to its active state",
+    "Trigger the palm-sized light gray switch using the left arm",
+    "Click the flat square with raised center using automated tools",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Engage the left arm to press the smooth gray switch",
+    "Direct the left arm to operate the palm-sized light gray switch",
+    "Use the left arm to interact with the light gray plastic switch",
+    "Interact with the flat square with raised center.",
+    "Push the small square switch via the left arm.",
+    "Operate the left arm to engage the light gray plastic switch",
+    "Click on the switch for electrical control precisely",
+    "Operate the small square switch with the left arm",
+    "Deploy the left arm to press the switch with smooth light gray finish",
+    "Press the flat square with raised center using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the left arm.",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm.",
+    "Move and click the the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode339.json b/turn_switch/piper_randomized_500/instructions/episode339.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c95ad7e416b1f75f8c0b47ebc0f065818136f6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode339.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to operate the hand-sized light beige switch",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Click the beige switch to activate it",
+    "Activate the switch with rectangular dark button via the right arm",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Trigger the toggle switch with brown rectangle button using the right arm",
+    "Tap the light-colored trapezoid-shaped plastic switch to engage it",
+    "Use the right arm for switching the tiny matte beige toggle switch",
+    "Initiate the switch with brown button by clicking",
+    "Move to the toggle switch with brown rectangle button and click it.",
+    "Deploy the right arm to operate the switch with rectangular dark button",
+    "Press the beige switch via automation",
+    "Click the switch with rectangular dark button using automated tools",
+    "Use the right arm to interact with the switch with rectangular dark button",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Approach and tap the switch with brown button via the right arm",
+    "Press the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Set the right arm to press the toggle switch with brown rectangle button",
+    "Engage with the beige switch manually",
+    "Interact with the toggle switch with brown rectangle button.",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Press the small trapezoid switch directly",
+    "Engage the matte beige switch with flat top using the right arm",
+    "Activate the light plastic switch by pressing it",
+    "Interact with the switch with a smooth top directly",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Engage the matte beige switch with flat top using the right arm.",
+    "Press the matte beige switch with flat top carefully with the right arm",
+    "Press the hand-sized light beige switch using robotic control",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Directly interact with the small trapezoid switch",
+    "Press the switch with a smooth top with the right arm",
+    "Activate the small trapezoid switch directly",
+    "Push the hand-sized light beige switch via the right arm.",
+    "Command the right arm to engage the light plastic switch",
+    "Operate the matte beige switch with flat top with the right arm",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Activate the the toggle switch with brown rectangle button using the right arm",
+    "Locate and press the matte beige switch with flat top",
+    "Set the switch at the beige switch",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Click on the switch with rectangular dark button precisely",
+    "Switch the small trapezoid switch to its active state",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Engage the switch with rectangular dark button with a press.",
+    "Use the right arm to engage the switch with rectangular dark button",
+    "Trigger the toggle switch with brown rectangle button with precision",
+    "Engage the right arm to press the switch with rectangular dark button",
+    "Press the light plastic switch to activate.",
+    "Direct the right arm to operate the switch with brown button",
+    "Activate the small trapezoid switch with the right arm.",
+    "Click the light-colored trapezoid-shaped plastic switch to activate it",
+    "Activate the switch with rectangular dark button via the right arm",
+    "Click the matte beige switch with flat top directly.",
+    "Trigger the switch with a smooth top using the right arm",
+    "Tap the beige switch with smooth finish to engage it",
+    "Use the right arm for switching the switch with a smooth top",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Deploy the right arm to operate the tiny matte beige toggle switch",
+    "Press the switch with brown button via automation",
+    "Click the switch with rectangular dark button using automated tools",
+    "Use the right arm to interact with the small trapezoid switch",
+    "Operate the right arm to engage the switch with a smooth top",
+    "Approach and tap the beige switch via the right arm",
+    "Press the switch with brown button using the right arm.",
+    "Set the right arm to press the hand-sized light beige switch",
+    "Engage with the switch with brown button manually",
+    "Interact with the hand-sized light beige switch.",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Press the hand-sized light beige switch directly",
+    "Engage the hand-sized light beige switch using the right arm",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Engage the switch with brown button using the right arm.",
+    "Press the beige switch with smooth finish carefully with the right arm",
+    "Press the beige switch using robotic control",
+    "Engage the beige switch with smooth finish using the robotic arm",
+    "Directly interact with the beige switch",
+    "Press the matte beige switch with flat top with the right arm",
+    "Activate the matte beige switch with flat top directly",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Command the right arm to engage the switch with brown button",
+    "Operate the small trapezoid switch with the right arm",
+    "Activate the tiny matte beige toggle switch with robotic precision",
+    "Locate and press the tiny matte beige toggle switch",
+    "Activate the the beige switch using the right arm",
+    "Locate and press the matte beige switch with flat top",
+    "Set the switch at the switch with rectangular dark button",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Click on the beige switch precisely",
+    "Switch the beige switch to its active state",
+    "Trigger the toggle switch with brown rectangle button without referencing the right arm",
+    "Engage the switch with brown button with a press.",
+    "Use the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Trigger the matte beige switch with flat top with precision",
+    "Engage the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Press the toggle switch with brown rectangle button to activate."
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode341.json b/turn_switch/piper_randomized_500/instructions/episode341.json
new file mode 100644
index 0000000000000000000000000000000000000000..33614207a93e6b312943d398774118902cf91f36
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode341.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the matte beige switch with flat top",
+    "Command the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Use the left arm to engage the switch with rectangular dark button",
+    "Press the light plastic switch to activate.",
+    "Direct the left arm to operate the beige switch",
+    "Deploy the left arm to operate the switch with a smooth top",
+    "Locate and press the beige switch with smooth finish",
+    "Press the switch with a smooth top using the left arm.",
+    "Move to the beige switch and click it.",
+    "Activate the beige switch directly",
+    "Use the left arm for switching the tiny matte beige toggle switch",
+    "Directly interact with the small trapezoid switch",
+    "Activate the light-colored trapezoid-shaped plastic switch via the left arm",
+    "Engage the hand-sized light beige switch using the left arm",
+    "Interact with the beige switch.",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Activate the toggle switch with brown rectangle button with robotic precision",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Interact with the beige switch directly",
+    "Switch the matte beige switch with flat top to its active state",
+    "Press the switch with a smooth top using robotic control",
+    "Engage with the hand-sized light beige switch manually",
+    "Trigger the switch with a smooth top without referencing the left arm",
+    "Tap the light plastic switch to engage it",
+    "Trigger the switch with a smooth top using the left arm",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Press the toggle switch with brown rectangle button with the left arm",
+    "Click the tiny matte beige toggle switch with robotic precision",
+    "Click on the light plastic switch precisely",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Operate the switch with a smooth top with the left arm",
+    "Toggle the matte beige switch with flat top with the left arm.",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Press the switch with a smooth top via automation",
+    "Push the light-colored trapezoid-shaped plastic switch via the left arm.",
+    "Activate the beige switch with the left arm.",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Operate the left arm to engage the toggle switch with brown rectangle button",
+    "Set the switch at the light plastic switch",
+    "Set the left arm to press the matte beige switch with flat top",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Trigger the hand-sized light beige switch with precision",
+    "Click the matte beige switch with flat top to activate it",
+    "Engage the left arm to press the switch with brown button",
+    "Use the left arm to interact with the light plastic switch",
+    "Press the hand-sized light beige switch carefully with the left arm",
+    "Deploy the left arm to press the small trapezoid switch",
+    "Locate and press the hand-sized light beige switch",
+    "Command the left arm to engage the switch with brown button",
+    "Engage the light plastic switch using the left arm.",
+    "Use the left arm to engage the light plastic switch",
+    "Press the switch with rectangular dark button to activate.",
+    "Direct the left arm to operate the tiny matte beige toggle switch",
+    "Deploy the left arm to operate the toggle switch with brown rectangle button",
+    "Locate and press the beige switch with smooth finish",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Move to the small trapezoid switch and click it.",
+    "Activate the beige switch directly",
+    "Use the left arm for switching the light plastic switch",
+    "Directly interact with the hand-sized light beige switch",
+    "Activate the light-colored trapezoid-shaped plastic switch via the left arm",
+    "Engage the light plastic switch using the left arm",
+    "Interact with the tiny matte beige toggle switch.",
+    "Click the beige switch directly.",
+    "Activate the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Initiate the matte beige switch with flat top by clicking",
+    "Interact with the hand-sized light beige switch directly",
+    "Switch the light plastic switch to its active state",
+    "Press the toggle switch with brown rectangle button using robotic control",
+    "Engage with the beige switch manually",
+    "Trigger the small trapezoid switch without referencing the left arm",
+    "Tap the toggle switch with brown rectangle button to engage it",
+    "Trigger the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Activate the the toggle switch with brown rectangle button using the left arm",
+    "Press the small trapezoid switch with the left arm",
+    "Click the hand-sized light beige switch with robotic precision",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Click the beige switch with smooth finish using automated tools",
+    "Engage the small trapezoid switch with a press.",
+    "Operate the tiny matte beige toggle switch with the left arm",
+    "Toggle the toggle switch with brown rectangle button with the left arm.",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Press the hand-sized light beige switch directly",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Push the switch with a smooth top via the left arm.",
+    "Activate the beige switch with the left arm.",
+    "Activate the hand-sized light beige switch by pressing it",
+    "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Set the switch at the small trapezoid switch",
+    "Set the left arm to press the tiny matte beige toggle switch",
+    "Approach and tap the toggle switch with brown rectangle button via the left arm",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Click the light-colored trapezoid-shaped plastic switch to activate it",
+    "Engage the left arm to press the small trapezoid switch",
+    "Use the left arm to interact with the toggle switch with brown rectangle button",
+    "Press the small trapezoid switch carefully with the left arm",
+    "Deploy the left arm to press the light-colored trapezoid-shaped plastic switch"
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode347.json b/turn_switch/piper_randomized_500/instructions/episode347.json
new file mode 100644
index 0000000000000000000000000000000000000000..dffc98cefa4bb1285de53d26fd5ce06031efd724
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode347.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the beige switch with smooth finish to engage it",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Command the left arm to engage the beige switch with smooth finish",
+    "Direct the left arm to operate the switch with brown button",
+    "Use the left arm for switching the beige switch",
+    "Approach and tap the tiny matte beige toggle switch via the left arm",
+    "Trigger the switch with rectangular dark button using the left arm",
+    "Operate the switch with a smooth top with the left arm",
+    "Click the switch with rectangular dark button to activate it",
+    "Use the left arm to engage the matte beige switch with flat top",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Engage the left arm to press the matte beige switch with flat top",
+    "Trigger the tiny matte beige toggle switch without referencing the left arm",
+    "Press the beige switch with smooth finish with the left arm",
+    "Set the switch at the switch with rectangular dark button",
+    "Directly interact with the switch with rectangular dark button",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Operate the left arm to engage the switch with rectangular dark button",
+    "Locate and press the switch with a smooth top",
+    "Press the small trapezoid switch to activate.",
+    "Activate the switch with brown button with the left arm.",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Activate the hand-sized light beige switch directly",
+    "Press the matte beige switch with flat top via automation",
+    "Engage the switch with a smooth top using the left arm.",
+    "Engage with the light plastic switch manually",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Deploy the left arm to press the hand-sized light beige switch",
+    "Move to the switch with a smooth top and click it.",
+    "Engage the switch with a smooth top using the left arm",
+    "Switch the beige switch with smooth finish to its active state",
+    "Locate and press the tiny matte beige toggle switch",
+    "Activate the the switch with rectangular dark button using the left arm",
+    "Activate the switch with rectangular dark button via the left arm",
+    "Toggle the light-colored trapezoid-shaped plastic switch with the left arm.",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Interact with the light plastic switch.",
+    "Set the left arm to press the tiny matte beige toggle switch",
+    "Deploy the left arm to operate the beige switch with smooth finish",
+    "Initiate the switch with a smooth top by clicking",
+    "Press the switch with rectangular dark button using robotic control",
+    "Press the light-colored trapezoid-shaped plastic switch carefully with the left arm",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Press the beige switch using the left arm.",
+    "Push the beige switch via the left arm.",
+    "Use the left arm to interact with the switch with a smooth top",
+    "Click the hand-sized light beige switch using automated tools",
+    "Press the light-colored trapezoid-shaped plastic switch directly",
+    "Activate the beige switch with robotic precision",
+    "Tap the matte beige switch with flat top to engage it",
+    "Trigger the small trapezoid switch with precision",
+    "Command the left arm to engage the switch with rectangular dark button",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Use the left arm for switching the light plastic switch",
+    "Approach and tap the matte beige switch with flat top via the left arm",
+    "Trigger the beige switch with smooth finish using the left arm",
+    "Operate the beige switch with the left arm",
+    "Click the switch with rectangular dark button to activate it",
+    "Use the left arm to engage the matte beige switch with flat top",
+    "Interact with the hand-sized light beige switch directly",
+    "Engage the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Trigger the toggle switch with brown rectangle button without referencing the left arm",
+    "Press the hand-sized light beige switch with the left arm",
+    "Set the switch at the beige switch",
+    "Directly interact with the switch with rectangular dark button",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Operate the left arm to engage the matte beige switch with flat top",
+    "Locate and press the matte beige switch with flat top",
+    "Press the hand-sized light beige switch to activate.",
+    "Activate the beige switch with the left arm.",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Activate the beige switch by pressing it",
+    "Activate the switch with rectangular dark button directly",
+    "Press the light-colored trapezoid-shaped plastic switch via automation",
+    "Engage the switch with brown button using the left arm.",
+    "Engage with the light plastic switch manually",
+    "Click the hand-sized light beige switch directly.",
+    "Deploy the left arm to press the switch with a smooth top",
+    "Move to the toggle switch with brown rectangle button and click it.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Switch the light plastic switch to its active state",
+    "Locate and press the switch with a smooth top",
+    "Activate the the switch with rectangular dark button using the left arm",
+    "Activate the switch with rectangular dark button via the left arm",
+    "Toggle the toggle switch with brown rectangle button with the left arm.",
+    "Engage the light plastic switch with a press.",
+    "Interact with the beige switch with smooth finish.",
+    "Set the left arm to press the hand-sized light beige switch",
+    "Deploy the left arm to operate the hand-sized light beige switch",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Press the switch with a smooth top using robotic control",
+    "Press the light plastic switch carefully with the left arm",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Press the hand-sized light beige switch using the left arm.",
+    "Push the light plastic switch via the left arm.",
+    "Use the left arm to interact with the tiny matte beige toggle switch",
+    "Click the switch with a smooth top using automated tools",
+    "Press the toggle switch with brown rectangle button directly",
+    "Activate the light-colored trapezoid-shaped plastic switch with robotic precision"
+  ],
+  "unseen": [
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode348.json b/turn_switch/piper_randomized_500/instructions/episode348.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d71fbf994c1421be4c9f308911c56c83031041
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode348.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the switch with brown button with precision",
+    "Press the small trapezoid switch directly",
+    "Press the switch with a smooth top via automation",
+    "Engage the light plastic switch using the robotic arm",
+    "Press the hand-sized light beige switch with the right arm",
+    "Interact with the hand-sized light beige switch directly",
+    "Use the right arm to interact with the tiny matte beige toggle switch",
+    "Activate the tiny matte beige toggle switch with robotic precision",
+    "Direct the right arm to operate the toggle switch with brown rectangle button",
+    "Activate the switch with rectangular dark button via the right arm",
+    "Activate the switch with a smooth top with the right arm.",
+    "Activate the the beige switch using the right arm",
+    "Command the right arm to engage the small trapezoid switch",
+    "Toggle the switch with a smooth top with the right arm.",
+    "Click the switch with a smooth top directly.",
+    "Press the hand-sized light beige switch carefully with the right arm",
+    "Push the light-colored trapezoid-shaped plastic switch via the right arm.",
+    "Directly interact with the beige switch",
+    "Set the switch at the switch with a smooth top",
+    "Tap the toggle switch with brown rectangle button to engage it",
+    "Click the hand-sized light beige switch with robotic precision",
+    "Click on the light plastic switch precisely",
+    "Deploy the right arm to operate the switch with a smooth top",
+    "Operate the beige switch with smooth finish with the right arm",
+    "Operate the right arm to engage the beige switch with smooth finish",
+    "Switch the hand-sized light beige switch to its active state",
+    "Trigger the beige switch with smooth finish using the right arm",
+    "Move to the switch with a smooth top and click it.",
+    "Engage the tiny matte beige toggle switch using the right arm",
+    "Click the beige switch with smooth finish using automated tools",
+    "Engage the light plastic switch using the right arm.",
+    "Engage the right arm to press the switch with rectangular dark button",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Engage the matte beige switch with flat top with a press.",
+    "Activate the beige switch directly",
+    "Use the right arm for switching the switch with a smooth top",
+    "Approach and tap the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Activate the small trapezoid switch by pressing it",
+    "Set the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Interact with the switch with a smooth top.",
+    "Locate and press the small trapezoid switch",
+    "Locate and press the switch with a smooth top",
+    "Engage with the hand-sized light beige switch manually",
+    "Deploy the right arm to press the small trapezoid switch",
+    "Initiate the beige switch by clicking",
+    "Click the switch with rectangular dark button to activate it",
+    "Press the switch with rectangular dark button to activate.",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Press the tiny matte beige toggle switch using the right arm.",
+    "Use the right arm to engage the switch with brown button",
+    "Trigger the switch with brown button with precision",
+    "Press the tiny matte beige toggle switch directly",
+    "Press the beige switch with smooth finish via automation",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Press the switch with rectangular dark button with the right arm",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Use the right arm to interact with the small trapezoid switch",
+    "Activate the tiny matte beige toggle switch with robotic precision",
+    "Direct the right arm to operate the light plastic switch",
+    "Activate the tiny matte beige toggle switch via the right arm",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Command the right arm to engage the switch with rectangular dark button",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Click the switch with a smooth top directly.",
+    "Press the light plastic switch carefully with the right arm",
+    "Push the light-colored trapezoid-shaped plastic switch via the right arm.",
+    "Directly interact with the switch with rectangular dark button",
+    "Set the switch at the beige switch",
+    "Tap the switch with a smooth top to engage it",
+    "Click the switch with a smooth top with robotic precision",
+    "Click on the light plastic switch precisely",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Operate the matte beige switch with flat top with the right arm",
+    "Operate the right arm to engage the light plastic switch",
+    "Switch the switch with rectangular dark button to its active state",
+    "Trigger the matte beige switch with flat top using the right arm",
+    "Move to the switch with brown button and click it.",
+    "Engage the switch with a smooth top using the right arm",
+    "Click the hand-sized light beige switch using automated tools",
+    "Engage the beige switch using the right arm.",
+    "Engage the right arm to press the beige switch with smooth finish",
+    "Trigger the toggle switch with brown rectangle button without referencing the right arm",
+    "Engage the small trapezoid switch with a press.",
+    "Activate the switch with rectangular dark button directly",
+    "Use the right arm for switching the light-colored trapezoid-shaped plastic switch",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Activate the switch with brown button by pressing it",
+    "Set the right arm to press the small trapezoid switch",
+    "Interact with the tiny matte beige toggle switch.",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Locate and press the beige switch",
+    "Engage with the light plastic switch manually",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Initiate the light plastic switch by clicking",
+    "Click the switch with rectangular dark button to activate it",
+    "Press the light plastic switch to activate.",
+    "Press the switch with a smooth top using robotic control",
+    "Press the switch with a smooth top using the right arm.",
+    "Use the right arm to engage the switch with brown button"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode349.json b/turn_switch/piper_randomized_500/instructions/episode349.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff419d91cc54f67592eeef4ece620863ce595a45
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode349.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the medium-sized black rectangular switch",
+    "Command the left arm to engage the switch with slanted sides",
+    "Activate the black switch with the left arm.",
+    "Activate the switch with slanted sides with robotic precision",
+    "Click the black rectangular control switch directly.",
+    "Interact with the compact rectangular black switch.",
+    "Set the left arm to press the black switch with matte coating",
+    "Deploy the left arm to press the palm-sized black switch",
+    "Click the control switch using automated tools",
+    "Set the switch at the palm-sized black switch",
+    "Engage the compact rectangular black switch with a press.",
+    "Deploy the left arm to operate the black switch with slim profile",
+    "Direct the left arm to operate the compact rectangular black switch",
+    "Engage with the black switch manually",
+    "Use the left arm to interact with the compact rectangular black switch",
+    "Move to the control switch and click it.",
+    "Operate the control switch with the left arm",
+    "Press the black rectangular control switch using robotic control",
+    "Press the black switch with the left arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Activate the black switch with slim profile via the left arm",
+    "Press the palm-sized black switch carefully with the left arm",
+    "Engage the left arm to press the black switch with matte coating",
+    "Press the sleek black rectangular switch using the left arm.",
+    "Trigger the sleek black rectangular switch using the left arm",
+    "Activate the palm-sized black switch directly",
+    "Tap the switch with slanted sides to engage it",
+    "Click the medium-sized black rectangular switch with robotic precision",
+    "Press the sleek black rectangular switch directly",
+    "Initiate the slanted-edge plastic black switch by clicking",
+    "Use the left arm to engage the control switch",
+    "Use the left arm for switching the rectangular switch with smooth surface",
+    "Click the black switch with slim profile to activate it",
+    "Directly interact with the black switch with matte coating",
+    "Trigger the rectangular switch with smooth surface without referencing the left arm",
+    "Press the rectangular switch with smooth surface via automation",
+    "Activate the the control switch using the left arm",
+    "Click on the black switch precisely",
+    "Engage the sleek black rectangular switch using the left arm.",
+    "Operate the left arm to engage the rectangular switch with smooth surface",
+    "Push the medium-sized black rectangular switch via the left arm.",
+    "Engage the switch with slanted sides using the robotic arm",
+    "Interact with the rectangular switch with smooth surface directly",
+    "Toggle the compact rectangular black switch with the left arm.",
+    "Press the black switch with slim profile to activate.",
+    "Approach and tap the black switch with slim profile via the left arm",
+    "Switch the black switch with matte coating to its active state",
+    "Engage the black switch with matte coating using the left arm",
+    "Trigger the switch with slanted sides with precision",
+    "Locate and press the black switch with matte coating",
+    "Command the left arm to engage the switch with slanted sides",
+    "Activate the switch with slanted sides with the left arm.",
+    "Activate the medium-sized black rectangular switch with robotic precision",
+    "Click the black switch with matte coating directly.",
+    "Interact with the black switch.",
+    "Set the left arm to press the rectangular switch with smooth surface",
+    "Deploy the left arm to press the black switch with matte coating",
+    "Click the palm-sized black switch using automated tools",
+    "Set the switch at the black switch with slim profile",
+    "Engage the switch with slanted sides with a press.",
+    "Deploy the left arm to operate the medium-sized black rectangular switch",
+    "Direct the left arm to operate the black switch",
+    "Engage with the sleek black rectangular switch manually",
+    "Use the left arm to interact with the sleek black rectangular switch",
+    "Move to the control switch and click it.",
+    "Operate the rectangular switch with smooth surface with the left arm",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Press the black switch with matte coating with the left arm",
+    "Locate and press the switch with slanted sides",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Activate the palm-sized black switch via the left arm",
+    "Press the rectangular switch with smooth surface carefully with the left arm",
+    "Engage the left arm to press the sleek black rectangular switch",
+    "Press the sleek black rectangular switch using the left arm.",
+    "Trigger the medium-sized black rectangular switch using the left arm",
+    "Activate the black switch directly",
+    "Tap the sleek black rectangular switch to engage it",
+    "Click the black rectangular control switch with robotic precision",
+    "Press the slanted-edge plastic black switch directly",
+    "Initiate the slanted-edge plastic black switch by clicking",
+    "Use the left arm to engage the control switch",
+    "Use the left arm for switching the black switch",
+    "Click the control switch to activate it",
+    "Directly interact with the compact rectangular black switch",
+    "Trigger the slanted-edge plastic black switch without referencing the left arm",
+    "Press the slanted-edge plastic black switch via automation",
+    "Activate the the black rectangular control switch using the left arm",
+    "Click on the black switch with slim profile precisely",
+    "Engage the palm-sized black switch using the left arm.",
+    "Operate the left arm to engage the slanted-edge plastic black switch",
+    "Push the medium-sized black rectangular switch via the left arm.",
+    "Engage the compact rectangular black switch using the robotic arm",
+    "Interact with the palm-sized black switch directly",
+    "Toggle the black switch with the left arm.",
+    "Press the compact rectangular black switch to activate.",
+    "Approach and tap the black switch with matte coating via the left arm",
+    "Switch the medium-sized black rectangular switch to its active state",
+    "Engage the rectangular switch with smooth surface using the left arm",
+    "Trigger the black switch with precision"
+  ],
+  "unseen": [
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the left arm.",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the left arm.",
+    "Direct the left arm to click the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Direct the left arm to click the smooth black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the left arm.",
+    "Direct the left arm to click the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm.",
+    "Direct the left arm to click the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Direct the left arm to click the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Direct the left arm to click the matte black plastic switch",
+    "Press the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm.",
+    "Direct the left arm to click the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the left arm.",
+    "Direct the left arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Direct the left arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the smooth black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode35.json b/turn_switch/piper_randomized_500/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ff98b5f6fbbcb55d7c2141a0b9c9df8f32c11b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the medium switch with trapezoidal base to activate it",
+    "Engage the gray switch with black buttons using the left arm.",
+    "Set the left arm to press the plastic switch with matte buttons",
+    "Set the switch at the gray plastic switch",
+    "Locate and press the gray base with black buttons",
+    "Directly interact with the smooth gray switch",
+    "Activate the gray switch with black buttons directly",
+    "Press the gray smooth surface switch to activate.",
+    "Activate the gray switch with black buttons via the left arm",
+    "Operate the switch with trapezoidal base with the left arm",
+    "Activate the the smooth gray switch using the left arm",
+    "Locate and press the smooth gray switch",
+    "Trigger the plastic switch with matte buttons without referencing the left arm",
+    "Engage the left arm to press the electric toggle switch",
+    "Direct the left arm to operate the electric toggle switch",
+    "Deploy the left arm to press the gray switch with black buttons",
+    "Engage with the gray smooth surface switch manually",
+    "Approach and tap the handheld switch via the left arm",
+    "Use the left arm to interact with the switch with trapezoidal base",
+    "Trigger the gray base with black buttons using the left arm",
+    "Command the left arm to engage the handheld switch",
+    "Activate the trapezoidal base switch with the left arm.",
+    "Push the gray switch with black buttons via the left arm.",
+    "Toggle the electric toggle switch with the left arm.",
+    "Operate the left arm to engage the plastic switch with matte buttons",
+    "Activate the handheld switch by pressing it",
+    "Interact with the handheld switch.",
+    "Click the gray plastic switch using automated tools",
+    "Use the left arm for switching the electric toggle switch",
+    "Interact with the gray smooth surface switch directly",
+    "Use the left arm to engage the medium switch with trapezoidal base",
+    "Press the smooth gray switch with the left arm",
+    "Tap the switch with trapezoidal base to engage it",
+    "Trigger the smooth gray switch with precision",
+    "Engage the smooth gray switch with a press.",
+    "Click the gray base with black buttons with robotic precision",
+    "Press the medium switch with trapezoidal base carefully with the left arm",
+    "Move to the smooth gray switch and click it.",
+    "Switch the gray smooth surface switch to its active state",
+    "Initiate the gray base with black buttons by clicking",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Click the electric toggle switch directly.",
+    "Press the plastic switch with matte buttons via automation",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Activate the gray switch with black buttons with robotic precision",
+    "Engage the gray plastic switch using the left arm",
+    "Press the trapezoidal base switch using the left arm.",
+    "Click on the two-button gray switch precisely",
+    "Press the gray base with black buttons directly",
+    "Engage the two-button gray switch using the robotic arm",
+    "Click the switch with trapezoidal base to activate it",
+    "Engage the handheld switch using the left arm.",
+    "Set the left arm to press the gray smooth surface switch",
+    "Set the switch at the gray smooth surface switch",
+    "Locate and press the gray plastic switch",
+    "Directly interact with the switch with trapezoidal base",
+    "Activate the gray plastic switch directly",
+    "Press the trapezoidal base switch to activate.",
+    "Activate the gray plastic switch via the left arm",
+    "Operate the medium switch with trapezoidal base with the left arm",
+    "Activate the the handheld switch using the left arm",
+    "Locate and press the medium switch with trapezoidal base",
+    "Trigger the two-button gray switch without referencing the left arm",
+    "Engage the left arm to press the electric toggle switch",
+    "Direct the left arm to operate the gray base with black buttons",
+    "Deploy the left arm to press the gray smooth surface switch",
+    "Engage with the medium switch with trapezoidal base manually",
+    "Approach and tap the switch with trapezoidal base via the left arm",
+    "Use the left arm to interact with the gray base with black buttons",
+    "Trigger the gray switch with black buttons using the left arm",
+    "Command the left arm to engage the gray base with black buttons",
+    "Activate the medium switch with trapezoidal base with the left arm.",
+    "Push the smooth gray switch via the left arm.",
+    "Toggle the handheld switch with the left arm.",
+    "Operate the left arm to engage the gray switch with black buttons",
+    "Activate the gray switch with black buttons by pressing it",
+    "Interact with the gray plastic switch.",
+    "Click the gray switch with black buttons using automated tools",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Interact with the switch with trapezoidal base directly",
+    "Use the left arm to engage the medium switch with trapezoidal base",
+    "Press the switch with trapezoidal base with the left arm",
+    "Tap the plastic switch with matte buttons to engage it",
+    "Trigger the trapezoidal base switch with precision",
+    "Engage the smooth gray switch with a press.",
+    "Click the electric toggle switch with robotic precision",
+    "Press the electric toggle switch carefully with the left arm",
+    "Move to the handheld switch and click it.",
+    "Switch the gray switch with black buttons to its active state",
+    "Initiate the gray base with black buttons by clicking",
+    "Deploy the left arm to operate the smooth gray switch",
+    "Click the two-button gray switch directly.",
+    "Press the two-button gray switch via automation",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Engage the plastic switch with matte buttons using the left arm",
+    "Press the gray smooth surface switch using the left arm.",
+    "Click on the gray base with black buttons precisely",
+    "Press the medium switch with trapezoidal base directly",
+    "Engage the gray plastic switch using the robotic arm"
+  ],
+  "unseen": [
+    "Click the gray switch with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Direct the left arm to click the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch",
+    "Direct the left arm to click the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch medium size",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode351.json b/turn_switch/piper_randomized_500/instructions/episode351.json
new file mode 100644
index 0000000000000000000000000000000000000000..408aaf25e4fbecfb05022010561adc7bbb70837c
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode351.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to operate the hand-sized switch with connector prongs",
+    "Command the left arm to engage the rectangular switch with curved lever",
+    "Engage with the hand-sized switch with connector prongs manually",
+    "Activate the black switch with robotic precision",
+    "Deploy the left arm to operate the red and black switch",
+    "Activate the compact switch with toggle on top with the left arm.",
+    "Press the black base switch with red toggle using robotic control",
+    "Engage the switch with curved red toggle using the left arm.",
+    "Activate the black switch via the left arm",
+    "Directly interact with the switch with curved red toggle",
+    "Interact with the rectangular black plastic switch.",
+    "Toggle the switch with curved red toggle with the left arm.",
+    "Use the left arm for switching the rectangular black plastic switch",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Locate and press the black base switch with red toggle",
+    "Click the black switch with metallic connectors to activate it",
+    "Push the rectangular switch with curved lever via the left arm.",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Engage the red and black switch with a press.",
+    "Tap the switch with curved red toggle to engage it",
+    "Engage the left arm to press the black base switch with red toggle",
+    "Press the rectangular black plastic switch with the left arm",
+    "Locate and press the red and black switch",
+    "Activate the hand-sized switch with connector prongs directly",
+    "Approach and tap the hand-sized switch with connector prongs via the left arm",
+    "Set the left arm to press the rectangular black plastic switch",
+    "Click on the red and black switch precisely",
+    "Press the rectangular black plastic switch using the left arm.",
+    "Set the switch at the compact switch with toggle on top",
+    "Operate the left arm to engage the switch with curved red toggle",
+    "Click the hand-sized switch with connector prongs using automated tools",
+    "Engage the black switch with metallic connectors using the robotic arm",
+    "Engage the black switch using the left arm",
+    "Trigger the black switch with metallic connectors using the left arm",
+    "Click the switch with curved red toggle with robotic precision",
+    "Press the red-top black switch carefully with the left arm",
+    "Trigger the small switch without referencing the left arm",
+    "Press the red and black switch directly",
+    "Move to the red-top black switch and click it.",
+    "Activate the red and black switch by pressing it",
+    "Initiate the red and black switch by clicking",
+    "Use the left arm to engage the compact switch with toggle on top",
+    "Use the left arm to interact with the black base switch with red toggle",
+    "Interact with the black switch directly",
+    "Press the compact switch with toggle on top via automation",
+    "Press the plastic switch with metal terminals to activate.",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Operate the compact switch with toggle on top with the left arm",
+    "Activate the the red-top black switch using the left arm",
+    "Deploy the left arm to press the black switch",
+    "Direct the left arm to operate the black switch with metallic connectors",
+    "Command the left arm to engage the rectangular switch with curved lever",
+    "Engage with the red and black switch manually",
+    "Activate the switch with curved red toggle with robotic precision",
+    "Deploy the left arm to operate the black switch with metallic connectors",
+    "Activate the rectangular switch with curved lever with the left arm.",
+    "Press the rectangular black plastic switch using robotic control",
+    "Engage the rectangular switch with curved lever using the left arm.",
+    "Activate the hand-sized switch with connector prongs via the left arm",
+    "Directly interact with the black switch",
+    "Interact with the compact switch with toggle on top.",
+    "Toggle the black switch with the left arm.",
+    "Use the left arm for switching the hand-sized switch with connector prongs",
+    "Click the red and black switch directly.",
+    "Locate and press the red and black switch",
+    "Click the compact switch with toggle on top to activate it",
+    "Push the compact switch with toggle on top via the left arm.",
+    "Trigger the small switch with precision",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Engage the left arm to press the black base switch with red toggle",
+    "Press the rectangular switch with curved lever with the left arm",
+    "Locate and press the rectangular black plastic switch",
+    "Activate the switch with curved red toggle directly",
+    "Approach and tap the red and black switch via the left arm",
+    "Set the left arm to press the small switch",
+    "Click on the rectangular black plastic switch precisely",
+    "Press the compact switch with toggle on top using the left arm.",
+    "Set the switch at the plastic switch with metal terminals",
+    "Operate the left arm to engage the red-top black switch",
+    "Click the red and black switch using automated tools",
+    "Engage the rectangular black plastic switch using the robotic arm",
+    "Engage the red-top black switch using the left arm",
+    "Trigger the red-top black switch using the left arm",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Press the plastic switch with metal terminals carefully with the left arm",
+    "Trigger the rectangular black plastic switch without referencing the left arm",
+    "Press the switch with curved red toggle directly",
+    "Move to the red-top black switch and click it.",
+    "Activate the rectangular black plastic switch by pressing it",
+    "Initiate the black switch by clicking",
+    "Use the left arm to engage the rectangular black plastic switch",
+    "Use the left arm to interact with the black base switch with red toggle",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Press the plastic switch with metal terminals via automation",
+    "Press the plastic switch with metal terminals to activate.",
+    "Switch the rectangular black plastic switch to its active state",
+    "Operate the black switch with the left arm",
+    "Activate the the compact switch with toggle on top using the left arm",
+    "Deploy the left arm to press the red-top black switch"
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Move and click the the simple toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode352.json b/turn_switch/piper_randomized_500/instructions/episode352.json
new file mode 100644
index 0000000000000000000000000000000000000000..b540ed99f2a42e9adfbb7bee91826c309a8c8d2c
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode352.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to operate the switch with darker rectangle",
+    "Switch the angled switch light tan color to its active state",
+    "Interact with the flat switch directly",
+    "Use the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Engage the small light tan switch with a press.",
+    "Engage the switch trapezoid shape brown marking using the right arm",
+    "Click on the small light tan switch precisely",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Activate the switch with darker rectangle directly",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Trigger the switch with darker rectangle with precision",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Deploy the right arm to press the tan switch",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Locate and press the flat switch",
+    "Press the flat switch to activate.",
+    "Engage the switch with darker rectangle using the right arm.",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Activate the tan switch with the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Locate and press the small light tan switch",
+    "Click the plastic switch with angled edges using automated tools",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Activate the angled switch light tan color via the right arm",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Set the switch at the trapezoid-shaped switch smooth surface",
+    "Interact with the rectangular switch with slanted sides.",
+    "Trigger the small light tan switch using the right arm",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Press the plastic switch with angled edges using robotic control",
+    "Engage the right arm to press the light tan rectangular switch smooth finish",
+    "Deploy the right arm to operate the flat switch",
+    "Click the angled switch light tan color directly.",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Use the right arm to interact with the plastic switch with angled edges",
+    "Press the flat switch via automation",
+    "Tap the smooth tan switch with textured sides to engage it",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Activate the angled switch light tan color by pressing it",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Use the right arm for switching the rectangular switch with slanted sides",
+    "Direct the right arm to operate the trapezoid-shaped switch smooth surface",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Interact with the small light tan switch directly",
+    "Use the right arm to engage the angled switch light tan color",
+    "Engage the switch with darker rectangle with a press.",
+    "Engage the angled switch light tan color using the right arm",
+    "Click on the plastic switch with angled edges precisely",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Engage with the switch with darker rectangle manually",
+    "Press the flat switch directly",
+    "Activate the light tan rectangular switch smooth finish directly",
+    "Press the hand-sized switch tan smooth finish carefully with the right arm",
+    "Trigger the tan switch with precision",
+    "Move to the flat switch and click it.",
+    "Deploy the right arm to press the rectangular switch with slanted sides",
+    "Command the right arm to engage the rectangular switch with slanted sides",
+    "Press the small light tan switch using the right arm.",
+    "Locate and press the tan switch",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Engage the tan switch using the right arm.",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Locate and press the tan switch",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Push the flat switch via the right arm.",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Press the flat switch with the right arm",
+    "Set the right arm to press the rectangular switch with slanted sides",
+    "Trigger the switch trapezoid shape brown marking without referencing the right arm",
+    "Set the switch at the switch with darker rectangle",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Trigger the flat switch using the right arm",
+    "Click the flat switch with robotic precision",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Engage the right arm to press the angled switch light tan color",
+    "Deploy the right arm to operate the switch with darker rectangle",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Toggle the tan switch with the right arm.",
+    "Use the right arm to interact with the tan switch",
+    "Press the smooth tan switch with textured sides via automation",
+    "Tap the flat switch to engage it",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Activate the small light tan switch by pressing it",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Use the right arm for switching the trapezoid-shaped switch smooth surface"
+  ],
+  "unseen": [
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode353.json b/turn_switch/piper_randomized_500/instructions/episode353.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec31b8752ca10a54ff69e78abed40bf235ff74a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode353.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click on the medium switch with trapezoidal base precisely",
+    "Approach and tap the gray smooth surface switch via the right arm",
+    "Press the gray plastic switch to activate.",
+    "Directly interact with the gray plastic switch",
+    "Click the trapezoidal base switch directly.",
+    "Engage the plastic switch with matte buttons using the right arm.",
+    "Set the switch at the two-button gray switch",
+    "Press the gray base with black buttons directly",
+    "Operate the electric toggle switch with the right arm",
+    "Use the right arm to engage the electric toggle switch",
+    "Direct the right arm to operate the smooth gray switch",
+    "Engage the electric toggle switch with a press.",
+    "Toggle the two-button gray switch with the right arm.",
+    "Engage the right arm to press the gray switch with black buttons",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Press the handheld switch via automation",
+    "Engage the smooth gray switch using the right arm",
+    "Activate the gray plastic switch directly",
+    "Trigger the two-button gray switch with precision",
+    "Command the right arm to engage the smooth gray switch",
+    "Operate the right arm to engage the trapezoidal base switch",
+    "Move to the switch with trapezoidal base and click it.",
+    "Trigger the gray base with black buttons without referencing the right arm",
+    "Locate and press the gray smooth surface switch",
+    "Click the gray smooth surface switch using automated tools",
+    "Engage with the plastic switch with matte buttons manually",
+    "Trigger the gray smooth surface switch using the right arm",
+    "Use the right arm for switching the trapezoidal base switch",
+    "Activate the smooth gray switch by pressing it",
+    "Set the right arm to press the gray smooth surface switch",
+    "Press the two-button gray switch using robotic control",
+    "Interact with the trapezoidal base switch.",
+    "Push the handheld switch via the right arm.",
+    "Click the handheld switch to activate it",
+    "Press the electric toggle switch using the right arm.",
+    "Activate the trapezoidal base switch with the right arm.",
+    "Use the right arm to interact with the switch with trapezoidal base",
+    "Press the electric toggle switch with the right arm",
+    "Engage the switch with trapezoidal base using the robotic arm",
+    "Switch the trapezoidal base switch to its active state",
+    "Deploy the right arm to press the switch with trapezoidal base",
+    "Tap the two-button gray switch to engage it",
+    "Deploy the right arm to operate the switch with trapezoidal base",
+    "Click the two-button gray switch with robotic precision",
+    "Interact with the gray switch with black buttons directly",
+    "Press the gray plastic switch carefully with the right arm",
+    "Locate and press the gray plastic switch",
+    "Activate the the gray base with black buttons using the right arm",
+    "Initiate the smooth gray switch by clicking",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Click on the gray smooth surface switch precisely",
+    "Approach and tap the electric toggle switch via the right arm",
+    "Press the electric toggle switch to activate.",
+    "Directly interact with the two-button gray switch",
+    "Click the plastic switch with matte buttons directly.",
+    "Engage the medium switch with trapezoidal base using the right arm.",
+    "Set the switch at the gray plastic switch",
+    "Press the handheld switch directly",
+    "Operate the smooth gray switch with the right arm",
+    "Use the right arm to engage the gray base with black buttons",
+    "Direct the right arm to operate the two-button gray switch",
+    "Engage the gray plastic switch with a press.",
+    "Toggle the trapezoidal base switch with the right arm.",
+    "Engage the right arm to press the medium switch with trapezoidal base",
+    "Activate the plastic switch with matte buttons via the right arm",
+    "Press the gray plastic switch via automation",
+    "Engage the handheld switch using the right arm",
+    "Activate the electric toggle switch directly",
+    "Trigger the plastic switch with matte buttons with precision",
+    "Command the right arm to engage the two-button gray switch",
+    "Operate the right arm to engage the trapezoidal base switch",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Trigger the handheld switch without referencing the right arm",
+    "Locate and press the gray base with black buttons",
+    "Click the gray base with black buttons using automated tools",
+    "Engage with the electric toggle switch manually",
+    "Trigger the gray switch with black buttons using the right arm",
+    "Use the right arm for switching the two-button gray switch",
+    "Activate the electric toggle switch by pressing it",
+    "Set the right arm to press the gray plastic switch",
+    "Press the gray plastic switch using robotic control",
+    "Interact with the switch with trapezoidal base.",
+    "Push the plastic switch with matte buttons via the right arm.",
+    "Click the handheld switch to activate it",
+    "Press the handheld switch using the right arm.",
+    "Activate the two-button gray switch with the right arm.",
+    "Use the right arm to interact with the gray base with black buttons",
+    "Press the handheld switch with the right arm",
+    "Engage the handheld switch using the robotic arm",
+    "Switch the smooth gray switch to its active state",
+    "Deploy the right arm to press the two-button gray switch",
+    "Tap the switch with trapezoidal base to engage it",
+    "Deploy the right arm to operate the plastic switch with matte buttons",
+    "Click the switch with trapezoidal base with robotic precision",
+    "Interact with the smooth gray switch directly",
+    "Press the gray base with black buttons carefully with the right arm",
+    "Locate and press the switch with trapezoidal base",
+    "Activate the the plastic switch with matte buttons using the right arm",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Activate the gray plastic switch with robotic precision"
+  ],
+  "unseen": [
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the gray switch using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the gray switch medium size using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode354.json b/turn_switch/piper_randomized_500/instructions/episode354.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c750b3ebf5f4f7ce3e16498a5e70de36ec061d9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode354.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the plastic gray body switch via the right arm.",
+    "Trigger the compact switch with flat base with precision",
+    "Press the switch for electrical control via automation",
+    "Use the right arm for switching the light gray square switch",
+    "Activate the square switch with red bar directly",
+    "Click the gray switch with red toggle with robotic precision",
+    "Tap the control switch with red lever to engage it",
+    "Activate the the gray switch with red toggle using the right arm",
+    "Approach and tap the switch via the right arm",
+    "Press the switch directly",
+    "Initiate the gray switch with red toggle by clicking",
+    "Press the plastic gray body switch to activate.",
+    "Operate the right arm to engage the gray switch with red toggle",
+    "Operate the switch with the right arm",
+    "Engage the toggle switch light gray base using the right arm.",
+    "Engage the switch with thin red toggle using the robotic arm",
+    "Activate the switch via the right arm",
+    "Trigger the switch without referencing the right arm",
+    "Click the red bar switch using automated tools",
+    "Toggle the switch for electrical control with the right arm.",
+    "Activate the plastic gray body switch with the right arm.",
+    "Direct the right arm to operate the red bar switch",
+    "Move to the control switch with red lever and click it.",
+    "Press the red bar switch using the right arm.",
+    "Deploy the right arm to press the switch with thin red toggle",
+    "Press the compact switch with flat base using robotic control",
+    "Directly interact with the square switch with red bar",
+    "Press the electrical switch with protruding toggle with the right arm",
+    "Interact with the compact switch with flat base.",
+    "Engage the toggle switch light gray base with a press.",
+    "Switch the switch for electrical control to its active state",
+    "Click the gray switch with red toggle directly.",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Set the right arm to press the square switch with red bar",
+    "Engage the right arm to press the red bar switch",
+    "Click on the switch precisely",
+    "Engage the gray switch with red toggle using the right arm",
+    "Use the right arm to interact with the plastic gray body switch",
+    "Press the toggle switch light gray base carefully with the right arm",
+    "Activate the switch for electrical control with robotic precision",
+    "Command the right arm to engage the electrical switch with protruding toggle",
+    "Deploy the right arm to operate the switch with thin red toggle",
+    "Trigger the plastic gray body switch using the right arm",
+    "Click the gray switch with red toggle to activate it",
+    "Locate and press the switch with thin red toggle",
+    "Locate and press the switch",
+    "Use the right arm to engage the gray switch with red toggle",
+    "Engage with the red bar switch manually",
+    "Set the switch at the switch",
+    "Interact with the switch for electrical control directly",
+    "Push the toggle switch light gray base via the right arm.",
+    "Trigger the toggle switch light gray base with precision",
+    "Press the control switch with red lever via automation",
+    "Use the right arm for switching the compact switch with flat base",
+    "Activate the gray switch with red toggle directly",
+    "Click the plastic gray body switch with robotic precision",
+    "Tap the square switch with red bar to engage it",
+    "Activate the the toggle switch light gray base using the right arm",
+    "Approach and tap the electrical switch with protruding toggle via the right arm",
+    "Press the plastic gray body switch directly",
+    "Initiate the red bar switch by clicking",
+    "Press the compact switch with flat base to activate.",
+    "Operate the right arm to engage the plastic gray body switch",
+    "Operate the red bar switch with the right arm",
+    "Engage the electrical switch with protruding toggle using the right arm.",
+    "Engage the control switch with red lever using the robotic arm",
+    "Activate the gray switch with red toggle via the right arm",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Click the switch using automated tools",
+    "Toggle the light gray square switch with the right arm.",
+    "Activate the electrical switch with protruding toggle with the right arm.",
+    "Direct the right arm to operate the switch with thin red toggle",
+    "Move to the switch and click it.",
+    "Press the toggle switch light gray base using the right arm.",
+    "Deploy the right arm to press the toggle switch light gray base",
+    "Press the red bar switch using robotic control",
+    "Directly interact with the switch for electrical control",
+    "Press the control switch with red lever with the right arm",
+    "Interact with the light gray square switch.",
+    "Engage the control switch with red lever with a press.",
+    "Switch the electrical switch with protruding toggle to its active state",
+    "Click the light gray square switch directly.",
+    "Activate the plastic gray body switch by pressing it",
+    "Set the right arm to press the square switch with red bar",
+    "Engage the right arm to press the switch with thin red toggle",
+    "Click on the red bar switch precisely",
+    "Engage the control switch with red lever using the right arm",
+    "Use the right arm to interact with the light gray square switch",
+    "Press the gray switch with red toggle carefully with the right arm",
+    "Activate the red bar switch with robotic precision",
+    "Command the right arm to engage the gray switch with red toggle",
+    "Deploy the right arm to operate the light gray square switch",
+    "Trigger the red bar switch using the right arm",
+    "Click the light gray square switch to activate it",
+    "Locate and press the light gray square switch",
+    "Locate and press the toggle switch light gray base",
+    "Use the right arm to engage the control switch with red lever",
+    "Engage with the square switch with red bar manually",
+    "Set the switch at the red bar switch",
+    "Interact with the light gray square switch directly"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode356.json b/turn_switch/piper_randomized_500/instructions/episode356.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabfc5a5e33f8e5a359f042f0387ef82223393d7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode356.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the smooth gray switch with the right arm.",
+    "Push the light gray plastic switch via the right arm.",
+    "Press the smooth gray switch with the right arm",
+    "Approach and tap the small square switch via the right arm",
+    "Trigger the flat square with raised center without referencing the right arm",
+    "Initiate the small square switch by clicking",
+    "Locate and press the light gray plastic switch",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Set the switch at the square switch with smooth surface",
+    "Locate and press the square gray switch panel",
+    "Direct the right arm to operate the palm-sized light gray switch",
+    "Press the square gray switch panel using robotic control",
+    "Click the angled-edge gray square switch using automated tools",
+    "Use the right arm to engage the smooth gray switch",
+    "Activate the switch for electrical control by pressing it",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Press the angled-edge gray square switch using the right arm.",
+    "Operate the right arm to engage the square gray switch panel",
+    "Press the flat square with raised center carefully with the right arm",
+    "Trigger the switch with rectangular raised area with precision",
+    "Activate the light gray plastic switch with robotic precision",
+    "Interact with the switch with rectangular raised area directly",
+    "Deploy the right arm to press the square switch with smooth surface",
+    "Deploy the right arm to operate the flat square with raised center",
+    "Activate the small square switch via the right arm",
+    "Switch the switch for electrical control to its active state",
+    "Press the light gray plastic switch to activate.",
+    "Tap the flat square with raised center to engage it",
+    "Click the square switch with smooth surface to activate it",
+    "Engage the flat square with raised center with a press.",
+    "Set the right arm to press the switch with rectangular raised area",
+    "Engage the switch for electrical control using the right arm.",
+    "Engage the light gray plastic switch using the right arm",
+    "Click the switch with smooth light gray finish directly.",
+    "Operate the switch with smooth light gray finish with the right arm",
+    "Engage the right arm to press the square gray switch panel",
+    "Trigger the square switch with smooth surface using the right arm",
+    "Toggle the smooth gray switch with the right arm.",
+    "Click on the switch for electrical control precisely",
+    "Use the right arm to interact with the smooth gray switch",
+    "Press the smooth gray switch via automation",
+    "Use the right arm for switching the square switch with smooth surface",
+    "Press the smooth gray switch directly",
+    "Directly interact with the square gray switch panel",
+    "Command the right arm to engage the small square switch made of plastic",
+    "Activate the the palm-sized light gray switch using the right arm",
+    "Activate the square switch with smooth surface directly",
+    "Move to the small square switch and click it.",
+    "Interact with the switch with smooth light gray finish.",
+    "Engage with the switch with smooth light gray finish manually",
+    "Activate the angled-edge gray square switch with the right arm.",
+    "Push the palm-sized light gray switch via the right arm.",
+    "Press the smooth gray switch with the right arm",
+    "Approach and tap the small square switch via the right arm",
+    "Trigger the flat square with raised center without referencing the right arm",
+    "Initiate the square switch with smooth surface by clicking",
+    "Locate and press the angled-edge gray square switch",
+    "Click the square gray switch panel with robotic precision",
+    "Set the switch at the light gray plastic switch",
+    "Locate and press the smooth gray switch",
+    "Direct the right arm to operate the square gray switch panel",
+    "Press the switch with smooth light gray finish using robotic control",
+    "Click the smooth gray switch using automated tools",
+    "Use the right arm to engage the switch for electrical control",
+    "Activate the switch with rectangular raised area by pressing it",
+    "Engage the switch with rectangular raised area using the robotic arm",
+    "Press the flat square with raised center using the right arm.",
+    "Operate the right arm to engage the switch with smooth light gray finish",
+    "Press the palm-sized light gray switch carefully with the right arm",
+    "Trigger the square gray switch panel with precision",
+    "Activate the switch with rectangular raised area with robotic precision",
+    "Interact with the small square switch made of plastic directly",
+    "Deploy the right arm to press the square switch with smooth surface",
+    "Deploy the right arm to operate the angled-edge gray square switch",
+    "Activate the switch for electrical control via the right arm",
+    "Switch the square gray switch panel to its active state",
+    "Press the square gray switch panel to activate.",
+    "Tap the small square switch to engage it",
+    "Click the switch with rectangular raised area to activate it",
+    "Engage the switch for electrical control with a press.",
+    "Set the right arm to press the small square switch made of plastic",
+    "Engage the small square switch using the right arm.",
+    "Engage the square switch with smooth surface using the right arm",
+    "Click the switch with rectangular raised area directly.",
+    "Operate the small square switch made of plastic with the right arm",
+    "Engage the right arm to press the angled-edge gray square switch",
+    "Trigger the small square switch made of plastic using the right arm",
+    "Toggle the switch with smooth light gray finish with the right arm.",
+    "Click on the flat square with raised center precisely",
+    "Use the right arm to interact with the angled-edge gray square switch",
+    "Press the square switch with smooth surface via automation",
+    "Use the right arm for switching the small square switch made of plastic",
+    "Press the small square switch directly",
+    "Directly interact with the flat square with raised center",
+    "Command the right arm to engage the small square switch",
+    "Activate the the square gray switch panel using the right arm",
+    "Activate the small square switch made of plastic directly",
+    "Move to the angled-edge gray square switch and click it.",
+    "Interact with the small square switch.",
+    "Engage with the flat square with raised center manually"
+  ],
+  "unseen": [
+    "Press the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Press the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm.",
+    "Press the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm.",
+    "Press the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm.",
+    "Press the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Press the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode358.json b/turn_switch/piper_randomized_500/instructions/episode358.json
new file mode 100644
index 0000000000000000000000000000000000000000..8174e42e66bbfd151c1c7665409139784bf9cf76
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode358.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the beige switch using the left arm",
+    "Engage the left arm to press the switch with brown button",
+    "Trigger the toggle switch with brown rectangle button without referencing the left arm",
+    "Approach and tap the light plastic switch via the left arm",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Press the tiny matte beige toggle switch carefully with the left arm",
+    "Engage the small trapezoid switch using the left arm.",
+    "Activate the tiny matte beige toggle switch with robotic precision",
+    "Push the tiny matte beige toggle switch via the left arm.",
+    "Press the tiny matte beige toggle switch directly",
+    "Press the switch with rectangular dark button to activate.",
+    "Operate the toggle switch with brown rectangle button with the left arm",
+    "Press the hand-sized light beige switch with the left arm",
+    "Use the left arm to engage the beige switch with smooth finish",
+    "Set the left arm to press the light plastic switch",
+    "Operate the left arm to engage the matte beige switch with flat top",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Directly interact with the matte beige switch with flat top",
+    "Activate the the toggle switch with brown rectangle button using the left arm",
+    "Activate the beige switch directly",
+    "Activate the small trapezoid switch via the left arm",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Locate and press the hand-sized light beige switch",
+    "Trigger the light plastic switch with precision",
+    "Click the beige switch with smooth finish using automated tools",
+    "Activate the hand-sized light beige switch by pressing it",
+    "Use the left arm to interact with the switch with brown button",
+    "Engage with the small trapezoid switch manually",
+    "Use the left arm for switching the tiny matte beige toggle switch",
+    "Locate and press the hand-sized light beige switch",
+    "Interact with the beige switch.",
+    "Switch the switch with brown button to its active state",
+    "Engage the matte beige switch with flat top using the left arm",
+    "Activate the light-colored trapezoid-shaped plastic switch with the left arm.",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Engage the switch with a smooth top with a press.",
+    "Interact with the beige switch with smooth finish directly",
+    "Deploy the left arm to operate the small trapezoid switch",
+    "Set the switch at the small trapezoid switch",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Press the switch with a smooth top using robotic control",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Press the beige switch via automation",
+    "Deploy the left arm to press the matte beige switch with flat top",
+    "Command the left arm to engage the switch with brown button",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Toggle the hand-sized light beige switch with the left arm.",
+    "Tap the light-colored trapezoid-shaped plastic switch to engage it",
+    "Trigger the light plastic switch using the left arm",
+    "Engage the left arm to press the toggle switch with brown rectangle button",
+    "Trigger the beige switch without referencing the left arm",
+    "Approach and tap the switch with brown button via the left arm",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Press the matte beige switch with flat top carefully with the left arm",
+    "Engage the light plastic switch using the left arm.",
+    "Activate the beige switch with robotic precision",
+    "Push the switch with brown button via the left arm.",
+    "Press the switch with rectangular dark button directly",
+    "Press the hand-sized light beige switch to activate.",
+    "Operate the beige switch with smooth finish with the left arm",
+    "Press the switch with rectangular dark button with the left arm",
+    "Use the left arm to engage the beige switch with smooth finish",
+    "Set the left arm to press the matte beige switch with flat top",
+    "Operate the left arm to engage the hand-sized light beige switch",
+    "Press the switch with rectangular dark button using the left arm.",
+    "Directly interact with the hand-sized light beige switch",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Activate the toggle switch with brown rectangle button directly",
+    "Activate the light-colored trapezoid-shaped plastic switch via the left arm",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Click on the toggle switch with brown rectangle button precisely",
+    "Locate and press the tiny matte beige toggle switch",
+    "Trigger the light plastic switch with precision",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Use the left arm to interact with the hand-sized light beige switch",
+    "Engage with the switch with brown button manually",
+    "Use the left arm for switching the beige switch with smooth finish",
+    "Locate and press the switch with a smooth top",
+    "Interact with the switch with rectangular dark button.",
+    "Switch the switch with brown button to its active state",
+    "Engage the switch with brown button using the left arm",
+    "Activate the switch with rectangular dark button with the left arm.",
+    "Click the switch with brown button directly.",
+    "Engage the switch with a smooth top with a press.",
+    "Interact with the light plastic switch directly",
+    "Deploy the left arm to operate the switch with brown button",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Press the switch with brown button using robotic control",
+    "Direct the left arm to operate the switch with rectangular dark button",
+    "Move to the matte beige switch with flat top and click it.",
+    "Press the tiny matte beige toggle switch via automation",
+    "Deploy the left arm to press the beige switch with smooth finish",
+    "Command the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Click the beige switch to activate it",
+    "Toggle the matte beige switch with flat top with the left arm.",
+    "Tap the small trapezoid switch to engage it"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode362.json b/turn_switch/piper_randomized_500/instructions/episode362.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ddcf9c24eb2f3abf83933f37e0a87d66e017e8e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode362.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the light gray square switch",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Switch the square switch with red bar to its active state",
+    "Activate the red bar switch directly",
+    "Set the left arm to press the electrical switch with protruding toggle",
+    "Activate the switch with robotic precision",
+    "Use the left arm to engage the red bar switch",
+    "Engage the gray switch with red toggle using the left arm.",
+    "Engage the left arm to press the electrical switch with protruding toggle",
+    "Engage the compact switch with flat base using the left arm",
+    "Activate the switch via the left arm",
+    "Activate the square switch with red bar with the left arm.",
+    "Press the switch using the left arm.",
+    "Directly interact with the gray switch with red toggle",
+    "Interact with the switch with thin red toggle directly",
+    "Click on the light gray square switch precisely",
+    "Click the compact switch with flat base to activate it",
+    "Engage the control switch with red lever using the robotic arm",
+    "Approach and tap the switch via the left arm",
+    "Interact with the control switch with red lever.",
+    "Click the square switch with red bar directly.",
+    "Click the toggle switch light gray base using automated tools",
+    "Locate and press the control switch with red lever",
+    "Activate the square switch with red bar by pressing it",
+    "Deploy the left arm to press the control switch with red lever",
+    "Tap the gray switch with red toggle to engage it",
+    "Locate and press the switch for electrical control",
+    "Trigger the gray switch with red toggle with precision",
+    "Push the control switch with red lever via the left arm.",
+    "Press the switch via automation",
+    "Operate the control switch with red lever with the left arm",
+    "Engage with the square switch with red bar manually",
+    "Operate the left arm to engage the switch with thin red toggle",
+    "Initiate the switch for electrical control by clicking",
+    "Use the left arm to interact with the red bar switch",
+    "Move to the square switch with red bar and click it.",
+    "Press the toggle switch light gray base with the left arm",
+    "Use the left arm for switching the electrical switch with protruding toggle",
+    "Trigger the compact switch with flat base using the left arm",
+    "Press the square switch with red bar to activate.",
+    "Trigger the compact switch with flat base without referencing the left arm",
+    "Press the switch carefully with the left arm",
+    "Deploy the left arm to operate the electrical switch with protruding toggle",
+    "Click the plastic gray body switch with robotic precision",
+    "Activate the the gray switch with red toggle using the left arm",
+    "Press the switch using robotic control",
+    "Press the compact switch with flat base directly",
+    "Engage the light gray square switch with a press.",
+    "Command the left arm to engage the control switch with red lever",
+    "Direct the left arm to operate the square switch with red bar",
+    "Set the switch at the square switch with red bar",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Switch the switch with thin red toggle to its active state",
+    "Activate the light gray square switch directly",
+    "Set the left arm to press the toggle switch light gray base",
+    "Activate the control switch with red lever with robotic precision",
+    "Use the left arm to engage the toggle switch light gray base",
+    "Engage the switch using the left arm.",
+    "Engage the left arm to press the switch with thin red toggle",
+    "Engage the square switch with red bar using the left arm",
+    "Activate the compact switch with flat base via the left arm",
+    "Activate the toggle switch light gray base with the left arm.",
+    "Press the toggle switch light gray base using the left arm.",
+    "Directly interact with the gray switch with red toggle",
+    "Interact with the switch directly",
+    "Click on the plastic gray body switch precisely",
+    "Click the compact switch with flat base to activate it",
+    "Engage the switch with thin red toggle using the robotic arm",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Interact with the compact switch with flat base.",
+    "Click the switch directly.",
+    "Click the compact switch with flat base using automated tools",
+    "Locate and press the plastic gray body switch",
+    "Activate the gray switch with red toggle by pressing it",
+    "Deploy the left arm to press the switch",
+    "Tap the electrical switch with protruding toggle to engage it",
+    "Locate and press the light gray square switch",
+    "Trigger the control switch with red lever with precision",
+    "Push the electrical switch with protruding toggle via the left arm.",
+    "Press the compact switch with flat base via automation",
+    "Operate the electrical switch with protruding toggle with the left arm",
+    "Engage with the toggle switch light gray base manually",
+    "Operate the left arm to engage the switch for electrical control",
+    "Initiate the red bar switch by clicking",
+    "Use the left arm to interact with the electrical switch with protruding toggle",
+    "Move to the plastic gray body switch and click it.",
+    "Press the toggle switch light gray base with the left arm",
+    "Use the left arm for switching the compact switch with flat base",
+    "Trigger the control switch with red lever using the left arm",
+    "Press the red bar switch to activate.",
+    "Trigger the control switch with red lever without referencing the left arm",
+    "Press the light gray square switch carefully with the left arm",
+    "Deploy the left arm to operate the toggle switch light gray base",
+    "Click the toggle switch light gray base with robotic precision",
+    "Activate the the electrical switch with protruding toggle using the left arm",
+    "Press the electrical switch with protruding toggle using robotic control",
+    "Press the switch with thin red toggle directly",
+    "Engage the red bar switch with a press.",
+    "Command the left arm to engage the switch with thin red toggle",
+    "Direct the left arm to operate the switch"
+  ],
+  "unseen": [
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the flat square gray switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode366.json b/turn_switch/piper_randomized_500/instructions/episode366.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdbe1ff56cf85a08a3f4cafec0da69d4f605ddae
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode366.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm for switching the black rectangular control switch",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Click on the palm-sized black switch precisely",
+    "Activate the slanted-edge plastic black switch via the right arm",
+    "Press the slanted-edge plastic black switch using the right arm.",
+    "Locate and press the sleek black rectangular switch",
+    "Press the palm-sized black switch with the right arm",
+    "Trigger the sleek black rectangular switch without referencing the right arm",
+    "Press the sleek black rectangular switch directly",
+    "Toggle the compact rectangular black switch with the right arm.",
+    "Press the control switch to activate.",
+    "Click the black switch with robotic precision",
+    "Trigger the palm-sized black switch with precision",
+    "Initiate the rectangular switch with smooth surface by clicking",
+    "Interact with the palm-sized black switch directly",
+    "Engage with the palm-sized black switch manually",
+    "Direct the right arm to operate the switch with slanted sides",
+    "Click the black rectangular control switch using automated tools",
+    "Operate the right arm to engage the rectangular switch with smooth surface",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Deploy the right arm to operate the control switch",
+    "Engage the right arm to press the black switch with matte coating",
+    "Engage the switch with slanted sides with a press.",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Set the switch at the black switch with matte coating",
+    "Activate the black rectangular control switch directly",
+    "Press the control switch using robotic control",
+    "Push the black rectangular control switch via the right arm.",
+    "Operate the black rectangular control switch with the right arm",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Switch the black switch with matte coating to its active state",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Press the black switch with slim profile carefully with the right arm",
+    "Activate the compact rectangular black switch with the right arm.",
+    "Click the sleek black rectangular switch directly.",
+    "Set the right arm to press the rectangular switch with smooth surface",
+    "Press the rectangular switch with smooth surface via automation",
+    "Use the right arm to engage the slanted-edge plastic black switch",
+    "Engage the control switch using the right arm",
+    "Tap the black switch to engage it",
+    "Move to the control switch and click it.",
+    "Click the sleek black rectangular switch to activate it",
+    "Interact with the black switch with matte coating.",
+    "Trigger the black switch with matte coating using the right arm",
+    "Engage the black switch with slim profile using the right arm.",
+    "Activate the black switch with matte coating with robotic precision",
+    "Activate the the black switch with slim profile using the right arm",
+    "Directly interact with the rectangular switch with smooth surface",
+    "Locate and press the black switch with matte coating",
+    "Use the right arm for switching the rectangular switch with smooth surface",
+    "Engage the sleek black rectangular switch using the robotic arm",
+    "Click on the compact rectangular black switch precisely",
+    "Activate the rectangular switch with smooth surface via the right arm",
+    "Press the medium-sized black rectangular switch using the right arm.",
+    "Locate and press the black switch",
+    "Press the slanted-edge plastic black switch with the right arm",
+    "Trigger the black switch with matte coating without referencing the right arm",
+    "Press the sleek black rectangular switch directly",
+    "Toggle the switch with slanted sides with the right arm.",
+    "Press the sleek black rectangular switch to activate.",
+    "Click the compact rectangular black switch with robotic precision",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Initiate the palm-sized black switch by clicking",
+    "Interact with the black switch with matte coating directly",
+    "Engage with the black switch manually",
+    "Direct the right arm to operate the medium-sized black rectangular switch",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Operate the right arm to engage the compact rectangular black switch",
+    "Approach and tap the black rectangular control switch via the right arm",
+    "Deploy the right arm to operate the sleek black rectangular switch",
+    "Engage the right arm to press the black switch with slim profile",
+    "Engage the switch with slanted sides with a press.",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Command the right arm to engage the compact rectangular black switch",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Activate the rectangular switch with smooth surface directly",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Push the black switch with matte coating via the right arm.",
+    "Operate the rectangular switch with smooth surface with the right arm",
+    "Use the right arm to interact with the black switch with slim profile",
+    "Switch the black rectangular control switch to its active state",
+    "Activate the control switch by pressing it",
+    "Press the rectangular switch with smooth surface carefully with the right arm",
+    "Activate the black switch with slim profile with the right arm.",
+    "Click the control switch directly.",
+    "Set the right arm to press the black switch with slim profile",
+    "Press the slanted-edge plastic black switch via automation",
+    "Use the right arm to engage the black switch",
+    "Engage the switch with slanted sides using the right arm",
+    "Tap the black switch to engage it",
+    "Move to the black switch with slim profile and click it.",
+    "Click the slanted-edge plastic black switch to activate it",
+    "Interact with the black switch with matte coating.",
+    "Trigger the switch with slanted sides using the right arm",
+    "Engage the switch with slanted sides using the right arm.",
+    "Activate the black switch with matte coating with robotic precision",
+    "Activate the the compact rectangular black switch using the right arm",
+    "Directly interact with the control switch",
+    "Locate and press the medium-sized black rectangular switch"
+  ],
+  "unseen": [
+    "Click the rectangular black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode37.json b/turn_switch/piper_randomized_500/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8733e7d9832cfbc8da17330dca74ffaaf5a7c0a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the left arm to press the smooth red switch with labels",
+    "Press the black base switch via automation",
+    "Deploy the left arm to press the switch for turning circuits on off",
+    "Press the two-tone red black switch with the left arm",
+    "Engage with the switch for turning circuits on off manually",
+    "Press the black base switch directly",
+    "Press the small switch with red lever to activate.",
+    "Locate and press the tiny rectangular switch",
+    "Approach and tap the switch for turning circuits on off via the left arm",
+    "Click the switch for turning circuits on off to activate it",
+    "Switch the switch with three metal pins to its active state",
+    "Engage the two-tone red black switch using the left arm",
+    "Trigger the toggle switch with black housing using the left arm",
+    "Deploy the left arm to operate the plastic switch with metal prongs",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Move to the black base switch and click it.",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Directly interact with the red and black electrical switch",
+    "Toggle the small switch with red lever with the left arm.",
+    "Command the left arm to engage the toggle switch with black housing",
+    "Trigger the two-tone red black switch with precision",
+    "Activate the plastic switch with metal prongs directly",
+    "Use the left arm for switching the switch with three metal pins",
+    "Direct the left arm to operate the small switch with red lever",
+    "Use the left arm to interact with the small switch with red lever",
+    "Set the switch at the plastic switch with metal prongs",
+    "Locate and press the tiny rectangular switch",
+    "Activate the small switch with red lever by pressing it",
+    "Trigger the red and black electrical switch without referencing the left arm",
+    "Tap the toggle switch with black housing to engage it",
+    "Operate the switch for turning circuits on off with the left arm",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Interact with the toggle switch with black housing.",
+    "Operate the left arm to engage the smooth red switch with labels",
+    "Press the switch for turning circuits on off using the left arm.",
+    "Activate the switch for turning circuits on off via the left arm",
+    "Click on the toggle switch with black housing precisely",
+    "Use the left arm to engage the toggle switch with black housing",
+    "Press the toggle switch with black housing using robotic control",
+    "Activate the tiny rectangular switch with the left arm.",
+    "Engage the red and black electrical switch using the left arm.",
+    "Engage the left arm to press the black base switch",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Interact with the two-tone red black switch directly",
+    "Push the black base switch via the left arm.",
+    "Engage the red and black electrical switch with a press.",
+    "Activate the the smooth red switch with labels using the left arm",
+    "Click the plastic switch with metal prongs with robotic precision",
+    "Initiate the small switch with red lever by clicking",
+    "Click the red and black electrical switch directly.",
+    "Set the left arm to press the rectangular switch",
+    "Press the smooth red switch with labels via automation",
+    "Deploy the left arm to press the red and black electrical switch",
+    "Press the switch for turning circuits on off with the left arm",
+    "Engage with the black base switch manually",
+    "Press the toggle switch with black housing directly",
+    "Press the plastic switch with metal prongs to activate.",
+    "Locate and press the two-tone red black switch",
+    "Approach and tap the switch for turning circuits on off via the left arm",
+    "Click the smooth red switch with labels to activate it",
+    "Switch the black base switch to its active state",
+    "Engage the switch with three metal pins using the left arm",
+    "Trigger the switch for turning circuits on off using the left arm",
+    "Deploy the left arm to operate the plastic switch with metal prongs",
+    "Click the small switch with red lever using automated tools",
+    "Move to the black base switch and click it.",
+    "Engage the rectangular switch using the robotic arm",
+    "Directly interact with the metal-pronged black switch",
+    "Toggle the small switch with red lever with the left arm.",
+    "Command the left arm to engage the tiny rectangular switch",
+    "Trigger the rectangular switch with precision",
+    "Activate the two-tone red black switch directly",
+    "Use the left arm for switching the two-tone red black switch",
+    "Direct the left arm to operate the two-tone red black switch",
+    "Use the left arm to interact with the plastic switch with metal prongs",
+    "Set the switch at the tiny rectangular switch",
+    "Locate and press the two-tone red black switch",
+    "Activate the tiny rectangular switch by pressing it",
+    "Trigger the black base switch without referencing the left arm",
+    "Tap the switch with three metal pins to engage it",
+    "Operate the small switch with red lever with the left arm",
+    "Press the tiny rectangular switch carefully with the left arm",
+    "Interact with the small switch with red lever.",
+    "Operate the left arm to engage the toggle switch with black housing",
+    "Press the switch with three metal pins using the left arm.",
+    "Activate the smooth red switch with labels via the left arm",
+    "Click on the small switch with red lever precisely",
+    "Use the left arm to engage the smooth red switch with labels",
+    "Press the red and black electrical switch using robotic control",
+    "Activate the toggle switch with black housing with the left arm.",
+    "Engage the black base switch using the left arm.",
+    "Engage the left arm to press the two-tone red black switch",
+    "Activate the rectangular switch with robotic precision",
+    "Interact with the switch for turning circuits on off directly",
+    "Push the plastic switch with metal prongs via the left arm.",
+    "Engage the switch with three metal pins with a press.",
+    "Activate the the toggle switch with black housing using the left arm",
+    "Click the smooth red switch with labels with robotic precision",
+    "Initiate the metal-pronged black switch by clicking",
+    "Click the switch with three metal pins directly."
+  ],
+  "unseen": [
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode371.json b/turn_switch/piper_randomized_500/instructions/episode371.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6c3b2c2f78f926011644f9c1588295022ba475
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode371.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the flat switch with robotic precision",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Command the right arm to engage the plastic switch with angled edges",
+    "Engage the rectangular switch with slanted sides with a press.",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Press the flat switch to activate.",
+    "Use the right arm for switching the switch trapezoid shape brown marking",
+    "Engage the angled switch light tan color using the right arm.",
+    "Toggle the angled switch light tan color with the right arm.",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Trigger the small light tan switch with precision",
+    "Trigger the switch trapezoid shape brown marking without referencing the right arm",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Directly interact with the tan switch",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Locate and press the small light tan switch",
+    "Press the flat switch with the right arm",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Push the tan switch via the right arm.",
+    "Set the right arm to press the small light tan switch",
+    "Move to the tan switch and click it.",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Activate the small light tan switch via the right arm",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Engage the smooth tan switch with textured sides using the right arm",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Activate the flat switch with the right arm.",
+    "Deploy the right arm to press the small light tan switch",
+    "Set the switch at the angled switch light tan color",
+    "Press the small light tan switch using the right arm.",
+    "Press the switch with darker rectangle using robotic control",
+    "Click the switch trapezoid shape brown marking to activate it",
+    "Initiate the tan switch by clicking",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Use the right arm to engage the switch trapezoid shape brown marking",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Activate the switch with darker rectangle directly",
+    "Switch the tan switch to its active state",
+    "Engage the tan switch using the robotic arm",
+    "Approach and tap the tan switch via the right arm",
+    "Activate the small light tan switch by pressing it",
+    "Locate and press the smooth tan switch with textured sides",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Press the switch with darker rectangle directly",
+    "Command the right arm to engage the plastic switch with angled edges",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Use the right arm to interact with the trapezoid-shaped switch smooth surface",
+    "Activate the the switch with darker rectangle using the right arm",
+    "Press the small light tan switch to activate.",
+    "Use the right arm for switching the light tan rectangular switch smooth finish",
+    "Engage the hand-sized switch tan smooth finish using the right arm.",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Engage the right arm to press the plastic switch with angled edges",
+    "Trigger the angled switch light tan color with precision",
+    "Trigger the small light tan switch without referencing the right arm",
+    "Click the small light tan switch directly.",
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Tap the plastic switch with angled edges to engage it",
+    "Directly interact with the smooth tan switch with textured sides",
+    "Press the angled switch light tan color via automation",
+    "Interact with the trapezoid-shaped switch smooth surface directly",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Locate and press the switch with darker rectangle",
+    "Press the angled switch light tan color with the right arm",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Push the hand-sized switch tan smooth finish via the right arm.",
+    "Set the right arm to press the rectangular switch with slanted sides",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Activate the plastic switch with angled edges via the right arm",
+    "Trigger the switch trapezoid shape brown marking using the right arm",
+    "Engage the plastic switch with angled edges using the right arm",
+    "Operate the right arm to engage the light tan rectangular switch smooth finish",
+    "Click on the switch with darker rectangle precisely",
+    "Click the tan switch using automated tools",
+    "Activate the flat switch with the right arm.",
+    "Deploy the right arm to press the light tan rectangular switch smooth finish",
+    "Set the switch at the angled switch light tan color",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Press the angled switch light tan color using robotic control",
+    "Click the rectangular switch with slanted sides to activate it",
+    "Initiate the small light tan switch by clicking",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Direct the right arm to operate the switch trapezoid shape brown marking",
+    "Deploy the right arm to operate the switch trapezoid shape brown marking",
+    "Activate the flat switch directly",
+    "Switch the switch with darker rectangle to its active state",
+    "Engage the flat switch using the robotic arm",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Locate and press the switch trapezoid shape brown marking"
+  ],
+  "unseen": [
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode372.json b/turn_switch/piper_randomized_500/instructions/episode372.json
new file mode 100644
index 0000000000000000000000000000000000000000..c372a4e94a6b7b48229931b65d0e910089dd7706
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode372.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to interact with the compact switch with flat base",
+    "Click the gray switch with red toggle directly.",
+    "Activate the switch for electrical control by pressing it",
+    "Activate the compact switch with flat base via the left arm",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Operate the left arm to engage the toggle switch light gray base",
+    "Activate the gray switch with red toggle directly",
+    "Press the electrical switch with protruding toggle directly",
+    "Press the switch for electrical control carefully with the left arm",
+    "Push the gray switch with red toggle via the left arm.",
+    "Press the electrical switch with protruding toggle via automation",
+    "Activate the square switch with red bar with robotic precision",
+    "Set the switch at the switch",
+    "Tap the electrical switch with protruding toggle to engage it",
+    "Press the toggle switch light gray base using robotic control",
+    "Trigger the red bar switch using the left arm",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Click the switch with thin red toggle to activate it",
+    "Locate and press the electrical switch with protruding toggle",
+    "Direct the left arm to operate the red bar switch",
+    "Press the toggle switch light gray base to activate.",
+    "Set the left arm to press the toggle switch light gray base",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Directly interact with the toggle switch light gray base",
+    "Trigger the gray switch with red toggle without referencing the left arm",
+    "Command the left arm to engage the red bar switch",
+    "Activate the the control switch with red lever using the left arm",
+    "Switch the switch with thin red toggle to its active state",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Initiate the light gray square switch by clicking",
+    "Click the electrical switch with protruding toggle using automated tools",
+    "Engage the control switch with red lever using the left arm.",
+    "Click on the control switch with red lever precisely",
+    "Deploy the left arm to press the plastic gray body switch",
+    "Use the left arm for switching the light gray square switch",
+    "Interact with the plastic gray body switch directly",
+    "Operate the toggle switch light gray base with the left arm",
+    "Engage with the compact switch with flat base manually",
+    "Engage the red bar switch using the left arm",
+    "Interact with the plastic gray body switch.",
+    "Click the switch with robotic precision",
+    "Move to the electrical switch with protruding toggle and click it.",
+    "Use the left arm to engage the red bar switch",
+    "Locate and press the gray switch with red toggle",
+    "Press the toggle switch light gray base using the left arm.",
+    "Press the electrical switch with protruding toggle with the left arm",
+    "Engage the square switch with red bar with a press.",
+    "Trigger the compact switch with flat base with precision",
+    "Activate the electrical switch with protruding toggle with the left arm.",
+    "Engage the left arm to press the switch for electrical control",
+    "Use the left arm to interact with the plastic gray body switch",
+    "Click the electrical switch with protruding toggle directly.",
+    "Activate the light gray square switch by pressing it",
+    "Activate the red bar switch via the left arm",
+    "Deploy the left arm to operate the switch with thin red toggle",
+    "Operate the left arm to engage the electrical switch with protruding toggle",
+    "Activate the switch for electrical control directly",
+    "Press the switch for electrical control directly",
+    "Press the switch carefully with the left arm",
+    "Push the compact switch with flat base via the left arm.",
+    "Press the switch for electrical control via automation",
+    "Activate the compact switch with flat base with robotic precision",
+    "Set the switch at the light gray square switch",
+    "Tap the toggle switch light gray base to engage it",
+    "Press the red bar switch using robotic control",
+    "Trigger the light gray square switch using the left arm",
+    "Toggle the control switch with red lever with the left arm.",
+    "Click the red bar switch to activate it",
+    "Locate and press the compact switch with flat base",
+    "Direct the left arm to operate the compact switch with flat base",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Set the left arm to press the plastic gray body switch",
+    "Engage the compact switch with flat base using the robotic arm",
+    "Directly interact with the switch with thin red toggle",
+    "Trigger the square switch with red bar without referencing the left arm",
+    "Command the left arm to engage the electrical switch with protruding toggle",
+    "Activate the the control switch with red lever using the left arm",
+    "Switch the electrical switch with protruding toggle to its active state",
+    "Approach and tap the toggle switch light gray base via the left arm",
+    "Initiate the toggle switch light gray base by clicking",
+    "Click the light gray square switch using automated tools",
+    "Engage the plastic gray body switch using the left arm.",
+    "Click on the control switch with red lever precisely",
+    "Deploy the left arm to press the plastic gray body switch",
+    "Use the left arm for switching the switch for electrical control",
+    "Interact with the compact switch with flat base directly",
+    "Operate the switch for electrical control with the left arm",
+    "Engage with the red bar switch manually",
+    "Engage the square switch with red bar using the left arm",
+    "Interact with the light gray square switch.",
+    "Click the switch for electrical control with robotic precision",
+    "Move to the compact switch with flat base and click it.",
+    "Use the left arm to engage the red bar switch",
+    "Locate and press the switch with thin red toggle",
+    "Press the switch for electrical control using the left arm.",
+    "Press the compact switch with flat base with the left arm",
+    "Engage the plastic gray body switch with a press.",
+    "Trigger the compact switch with flat base with precision",
+    "Activate the switch with thin red toggle with the left arm.",
+    "Engage the left arm to press the red bar switch"
+  ],
+  "unseen": [
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the flat square gray switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Click the smooth gray base switch with the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Press the flat square gray switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode375.json b/turn_switch/piper_randomized_500/instructions/episode375.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea7bce9153bac3a0c1a3a5f882d99babc237e747
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode375.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the beige switch with smooth finish with the right arm.",
+    "Switch the switch with rectangular dark button to its active state",
+    "Engage the right arm to press the switch with brown button",
+    "Trigger the matte beige switch with flat top without referencing the right arm",
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Engage the beige switch with a press.",
+    "Deploy the right arm to operate the beige switch",
+    "Engage the beige switch with smooth finish using the right arm.",
+    "Activate the the switch with rectangular dark button using the right arm",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Click the switch with a smooth top directly.",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Trigger the beige switch using the right arm",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Use the right arm for switching the small trapezoid switch",
+    "Activate the tiny matte beige toggle switch via the right arm",
+    "Click the hand-sized light beige switch with robotic precision",
+    "Press the switch with a smooth top carefully with the right arm",
+    "Press the light plastic switch directly",
+    "Engage with the switch with brown button manually",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Operate the right arm to engage the beige switch",
+    "Command the right arm to engage the beige switch",
+    "Activate the switch with brown button with robotic precision",
+    "Direct the right arm to operate the beige switch",
+    "Locate and press the beige switch",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Click the small trapezoid switch using automated tools",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Move to the small trapezoid switch and click it.",
+    "Use the right arm to interact with the switch with a smooth top",
+    "Directly interact with the hand-sized light beige switch",
+    "Press the tiny matte beige toggle switch with the right arm",
+    "Press the switch with rectangular dark button using robotic control",
+    "Engage the beige switch with smooth finish using the robotic arm",
+    "Activate the switch with brown button directly",
+    "Press the switch with brown button using the right arm.",
+    "Engage the toggle switch with brown rectangle button using the right arm",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Operate the switch with a smooth top with the right arm",
+    "Click on the matte beige switch with flat top precisely",
+    "Press the small trapezoid switch via automation",
+    "Set the switch at the small trapezoid switch",
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Trigger the light plastic switch with precision",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Approach and tap the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Set the right arm to press the small trapezoid switch",
+    "Tap the toggle switch with brown rectangle button to engage it",
+    "Activate the small trapezoid switch with the right arm.",
+    "Switch the beige switch to its active state",
+    "Engage the right arm to press the small trapezoid switch",
+    "Trigger the light plastic switch without referencing the right arm",
+    "Initiate the beige switch by clicking",
+    "Engage the switch with rectangular dark button with a press.",
+    "Deploy the right arm to operate the light plastic switch",
+    "Engage the beige switch with smooth finish using the right arm.",
+    "Activate the the switch with brown button using the right arm",
+    "Interact with the toggle switch with brown rectangle button.",
+    "Click the switch with brown button directly.",
+    "Press the light plastic switch to activate.",
+    "Trigger the switch with a smooth top using the right arm",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Use the right arm for switching the beige switch",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Click the light plastic switch with robotic precision",
+    "Press the switch with rectangular dark button carefully with the right arm",
+    "Press the switch with brown button directly",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Operate the right arm to engage the switch with a smooth top",
+    "Command the right arm to engage the toggle switch with brown rectangle button",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Direct the right arm to operate the tiny matte beige toggle switch",
+    "Locate and press the small trapezoid switch",
+    "Activate the switch with brown button by pressing it",
+    "Click the beige switch using automated tools",
+    "Toggle the switch with rectangular dark button with the right arm.",
+    "Move to the light plastic switch and click it.",
+    "Use the right arm to interact with the switch with brown button",
+    "Directly interact with the tiny matte beige toggle switch",
+    "Press the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Press the beige switch using robotic control",
+    "Engage the switch with brown button using the robotic arm",
+    "Activate the light plastic switch directly",
+    "Press the light plastic switch using the right arm.",
+    "Engage the beige switch with smooth finish using the right arm",
+    "Locate and press the beige switch",
+    "Operate the small trapezoid switch with the right arm",
+    "Click on the small trapezoid switch precisely",
+    "Press the beige switch with smooth finish via automation",
+    "Set the switch at the switch with rectangular dark button",
+    "Use the right arm to engage the hand-sized light beige switch",
+    "Trigger the beige switch with precision",
+    "Click the light plastic switch to activate it",
+    "Interact with the switch with brown button directly",
+    "Approach and tap the toggle switch with brown rectangle button via the right arm",
+    "Set the right arm to press the small trapezoid switch",
+    "Tap the switch with brown button to engage it"
+  ],
+  "unseen": [
+    "Press the rectangular button switch on beige base using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode377.json b/turn_switch/piper_randomized_500/instructions/episode377.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f007053106e589c693cc979dbeb7ef106c6285
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode377.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the smooth tan switch with textured sides",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Press the switch with darker rectangle carefully with the left arm",
+    "Activate the hand-sized switch tan smooth finish with the left arm.",
+    "Set the left arm to press the switch with darker rectangle",
+    "Operate the small light tan switch with the left arm",
+    "Interact with the plastic switch with angled edges.",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Click the switch trapezoid shape brown marking using automated tools",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Engage with the small light tan switch manually",
+    "Approach and tap the plastic switch with angled edges via the left arm",
+    "Push the light tan rectangular switch smooth finish via the left arm.",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Press the smooth tan switch with textured sides to activate.",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Engage the switch trapezoid shape brown marking using the left arm",
+    "Use the left arm to interact with the plastic switch with angled edges",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Engage the trapezoid-shaped switch smooth surface using the left arm.",
+    "Activate the small light tan switch via the left arm",
+    "Press the light tan rectangular switch smooth finish using robotic control",
+    "Trigger the smooth tan switch with textured sides without referencing the left arm",
+    "Activate the the plastic switch with angled edges using the left arm",
+    "Toggle the hand-sized switch tan smooth finish with the left arm.",
+    "Deploy the left arm to press the small light tan switch",
+    "Initiate the angled switch light tan color by clicking",
+    "Use the left arm for switching the smooth tan switch with textured sides",
+    "Direct the left arm to operate the smooth tan switch with textured sides",
+    "Use the left arm to engage the hand-sized switch tan smooth finish",
+    "Tap the smooth tan switch with textured sides to engage it",
+    "Press the smooth tan switch with textured sides via automation",
+    "Command the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Click the switch with darker rectangle to activate it",
+    "Engage the left arm to press the hand-sized switch tan smooth finish",
+    "Interact with the tan switch directly",
+    "Deploy the left arm to operate the tan switch",
+    "Press the switch with darker rectangle with the left arm",
+    "Trigger the smooth tan switch with textured sides using the left arm",
+    "Operate the left arm to engage the switch trapezoid shape brown marking",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Click the plastic switch with angled edges with robotic precision",
+    "Move to the tan switch and click it.",
+    "Set the switch at the smooth tan switch with textured sides",
+    "Engage the trapezoid-shaped switch smooth surface with a press.",
+    "Press the plastic switch with angled edges directly",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Press the switch trapezoid shape brown marking using the left arm.",
+    "Press the small light tan switch carefully with the left arm",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Set the left arm to press the flat switch",
+    "Operate the small light tan switch with the left arm",
+    "Interact with the light tan rectangular switch smooth finish.",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Click the tan switch using automated tools",
+    "Switch the switch with darker rectangle to its active state",
+    "Engage with the plastic switch with angled edges manually",
+    "Approach and tap the switch with darker rectangle via the left arm",
+    "Push the tan switch via the left arm.",
+    "Trigger the tan switch with precision",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Press the switch with darker rectangle to activate.",
+    "Locate and press the tan switch",
+    "Engage the switch trapezoid shape brown marking using the left arm",
+    "Use the left arm to interact with the trapezoid-shaped switch smooth surface",
+    "Directly interact with the angled switch light tan color",
+    "Engage the small light tan switch using the left arm.",
+    "Activate the angled switch light tan color via the left arm",
+    "Press the light tan rectangular switch smooth finish using robotic control",
+    "Trigger the plastic switch with angled edges without referencing the left arm",
+    "Activate the the angled switch light tan color using the left arm",
+    "Toggle the tan switch with the left arm.",
+    "Deploy the left arm to press the light tan rectangular switch smooth finish",
+    "Initiate the tan switch by clicking",
+    "Use the left arm for switching the switch trapezoid shape brown marking",
+    "Direct the left arm to operate the rectangular switch with slanted sides",
+    "Use the left arm to engage the smooth tan switch with textured sides",
+    "Tap the angled switch light tan color to engage it",
+    "Press the plastic switch with angled edges via automation",
+    "Command the left arm to engage the tan switch",
+    "Activate the smooth tan switch with textured sides directly",
+    "Click the smooth tan switch with textured sides to activate it",
+    "Engage the left arm to press the angled switch light tan color",
+    "Interact with the flat switch directly",
+    "Deploy the left arm to operate the switch trapezoid shape brown marking",
+    "Press the light tan rectangular switch smooth finish with the left arm",
+    "Trigger the hand-sized switch tan smooth finish using the left arm",
+    "Operate the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Click the angled switch light tan color directly.",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Set the switch at the flat switch",
+    "Engage the tan switch with a press.",
+    "Press the small light tan switch directly"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top using the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Move and click the the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode378.json b/turn_switch/piper_randomized_500/instructions/episode378.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cee3b605e50395cdb8620699cb5ac0d914f0478
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode378.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the plastic switch with matte buttons with the left arm",
+    "Set the switch at the smooth gray switch",
+    "Use the left arm for switching the smooth gray switch",
+    "Click on the handheld switch precisely",
+    "Trigger the gray smooth surface switch without referencing the left arm",
+    "Toggle the gray smooth surface switch with the left arm.",
+    "Press the two-button gray switch to activate.",
+    "Press the gray plastic switch with the left arm",
+    "Activate the gray plastic switch by pressing it",
+    "Press the electric toggle switch directly",
+    "Operate the left arm to engage the switch with trapezoidal base",
+    "Locate and press the gray base with black buttons",
+    "Click the gray plastic switch with robotic precision",
+    "Command the left arm to engage the trapezoidal base switch",
+    "Engage the medium switch with trapezoidal base using the left arm",
+    "Activate the gray switch with black buttons directly",
+    "Click the gray base with black buttons directly.",
+    "Activate the electric toggle switch with robotic precision",
+    "Engage the smooth gray switch with a press.",
+    "Engage the electric toggle switch using the left arm.",
+    "Interact with the smooth gray switch.",
+    "Direct the left arm to operate the gray plastic switch",
+    "Locate and press the switch with trapezoidal base",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Press the plastic switch with matte buttons using robotic control",
+    "Activate the the gray smooth surface switch using the left arm",
+    "Deploy the left arm to press the gray switch with black buttons",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage the left arm to press the smooth gray switch",
+    "Tap the handheld switch to engage it",
+    "Activate the handheld switch with the left arm.",
+    "Use the left arm to interact with the gray smooth surface switch",
+    "Directly interact with the electric toggle switch",
+    "Press the gray smooth surface switch carefully with the left arm",
+    "Approach and tap the trapezoidal base switch via the left arm",
+    "Push the medium switch with trapezoidal base via the left arm.",
+    "Use the left arm to engage the two-button gray switch",
+    "Press the two-button gray switch via automation",
+    "Click the electric toggle switch using automated tools",
+    "Deploy the left arm to operate the gray smooth surface switch",
+    "Initiate the gray switch with black buttons by clicking",
+    "Press the switch with trapezoidal base using the left arm.",
+    "Move to the electric toggle switch and click it.",
+    "Trigger the electric toggle switch using the left arm",
+    "Engage with the switch with trapezoidal base manually",
+    "Trigger the switch with trapezoidal base with precision",
+    "Set the left arm to press the trapezoidal base switch",
+    "Click the medium switch with trapezoidal base to activate it",
+    "Activate the plastic switch with matte buttons via the left arm",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Operate the electric toggle switch with the left arm",
+    "Set the switch at the medium switch with trapezoidal base",
+    "Use the left arm for switching the trapezoidal base switch",
+    "Click on the electric toggle switch precisely",
+    "Trigger the plastic switch with matte buttons without referencing the left arm",
+    "Toggle the gray switch with black buttons with the left arm.",
+    "Press the gray base with black buttons to activate.",
+    "Press the gray plastic switch with the left arm",
+    "Activate the plastic switch with matte buttons by pressing it",
+    "Press the electric toggle switch directly",
+    "Operate the left arm to engage the gray smooth surface switch",
+    "Locate and press the two-button gray switch",
+    "Click the switch with trapezoidal base with robotic precision",
+    "Command the left arm to engage the gray plastic switch",
+    "Engage the gray base with black buttons using the left arm",
+    "Activate the gray switch with black buttons directly",
+    "Click the gray base with black buttons directly.",
+    "Activate the gray plastic switch with robotic precision",
+    "Engage the gray base with black buttons with a press.",
+    "Engage the smooth gray switch using the left arm.",
+    "Interact with the gray base with black buttons.",
+    "Direct the left arm to operate the electric toggle switch",
+    "Locate and press the two-button gray switch",
+    "Switch the plastic switch with matte buttons to its active state",
+    "Press the two-button gray switch using robotic control",
+    "Activate the the two-button gray switch using the left arm",
+    "Deploy the left arm to press the gray switch with black buttons",
+    "Interact with the two-button gray switch directly",
+    "Engage the left arm to press the gray switch with black buttons",
+    "Tap the switch with trapezoidal base to engage it",
+    "Activate the gray switch with black buttons with the left arm.",
+    "Use the left arm to interact with the gray plastic switch",
+    "Directly interact with the gray switch with black buttons",
+    "Press the gray smooth surface switch carefully with the left arm",
+    "Approach and tap the gray switch with black buttons via the left arm",
+    "Push the gray smooth surface switch via the left arm.",
+    "Use the left arm to engage the gray base with black buttons",
+    "Press the electric toggle switch via automation",
+    "Click the two-button gray switch using automated tools",
+    "Deploy the left arm to operate the two-button gray switch",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Press the smooth gray switch using the left arm.",
+    "Move to the two-button gray switch and click it.",
+    "Trigger the gray plastic switch using the left arm",
+    "Engage with the gray smooth surface switch manually",
+    "Trigger the plastic switch with matte buttons with precision",
+    "Set the left arm to press the medium switch with trapezoidal base",
+    "Click the smooth gray switch to activate it",
+    "Activate the two-button gray switch via the left arm",
+    "Engage the gray switch with black buttons using the robotic arm"
+  ],
+  "unseen": [
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch",
+    "Press the switch with circular black buttons using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode379.json b/turn_switch/piper_randomized_500/instructions/episode379.json
new file mode 100644
index 0000000000000000000000000000000000000000..78973212b394f0ee61e0c1a411f58bf1a75397bb
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode379.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the smooth gray switch by clicking",
+    "Engage the gray plastic switch with a press.",
+    "Activate the the medium switch with trapezoidal base using the left arm",
+    "Use the left arm for switching the switch with trapezoidal base",
+    "Deploy the left arm to operate the gray switch with black buttons",
+    "Operate the left arm to engage the two-button gray switch",
+    "Trigger the medium switch with trapezoidal base using the left arm",
+    "Engage the trapezoidal base switch using the left arm",
+    "Tap the electric toggle switch to engage it",
+    "Directly interact with the two-button gray switch",
+    "Press the gray smooth surface switch using robotic control",
+    "Click the electric toggle switch directly.",
+    "Activate the gray smooth surface switch with the left arm.",
+    "Operate the trapezoidal base switch with the left arm",
+    "Press the trapezoidal base switch directly",
+    "Press the switch with trapezoidal base using the left arm.",
+    "Activate the electric toggle switch directly",
+    "Use the left arm to engage the gray switch with black buttons",
+    "Click the two-button gray switch to activate it",
+    "Toggle the gray base with black buttons with the left arm.",
+    "Engage the electric toggle switch using the robotic arm",
+    "Switch the medium switch with trapezoidal base to its active state",
+    "Interact with the electric toggle switch directly",
+    "Engage with the gray smooth surface switch manually",
+    "Command the left arm to engage the electric toggle switch",
+    "Set the left arm to press the two-button gray switch",
+    "Trigger the two-button gray switch with precision",
+    "Set the switch at the gray plastic switch",
+    "Click the electric toggle switch using automated tools",
+    "Activate the switch with trapezoidal base by pressing it",
+    "Push the plastic switch with matte buttons via the left arm.",
+    "Engage the left arm to press the smooth gray switch",
+    "Activate the trapezoidal base switch via the left arm",
+    "Locate and press the gray plastic switch",
+    "Use the left arm to interact with the handheld switch",
+    "Interact with the gray plastic switch.",
+    "Click the two-button gray switch with robotic precision",
+    "Approach and tap the electric toggle switch via the left arm",
+    "Trigger the trapezoidal base switch without referencing the left arm",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Locate and press the gray smooth surface switch",
+    "Press the two-button gray switch to activate.",
+    "Deploy the left arm to press the gray base with black buttons",
+    "Direct the left arm to operate the gray switch with black buttons",
+    "Click on the handheld switch precisely",
+    "Press the two-button gray switch with the left arm",
+    "Move to the smooth gray switch and click it.",
+    "Press the gray plastic switch via automation",
+    "Press the two-button gray switch carefully with the left arm",
+    "Engage the gray switch with black buttons using the left arm.",
+    "Initiate the plastic switch with matte buttons by clicking",
+    "Engage the handheld switch with a press.",
+    "Activate the the handheld switch using the left arm",
+    "Use the left arm for switching the gray switch with black buttons",
+    "Deploy the left arm to operate the gray smooth surface switch",
+    "Operate the left arm to engage the medium switch with trapezoidal base",
+    "Trigger the two-button gray switch using the left arm",
+    "Engage the electric toggle switch using the left arm",
+    "Tap the medium switch with trapezoidal base to engage it",
+    "Directly interact with the gray plastic switch",
+    "Press the smooth gray switch using robotic control",
+    "Click the two-button gray switch directly.",
+    "Activate the switch with trapezoidal base with the left arm.",
+    "Operate the gray smooth surface switch with the left arm",
+    "Press the gray base with black buttons directly",
+    "Press the handheld switch using the left arm.",
+    "Activate the gray smooth surface switch directly",
+    "Use the left arm to engage the gray base with black buttons",
+    "Click the gray plastic switch to activate it",
+    "Toggle the gray plastic switch with the left arm.",
+    "Engage the electric toggle switch using the robotic arm",
+    "Switch the gray smooth surface switch to its active state",
+    "Interact with the plastic switch with matte buttons directly",
+    "Engage with the electric toggle switch manually",
+    "Command the left arm to engage the medium switch with trapezoidal base",
+    "Set the left arm to press the gray plastic switch",
+    "Trigger the switch with trapezoidal base with precision",
+    "Set the switch at the gray smooth surface switch",
+    "Click the electric toggle switch using automated tools",
+    "Activate the trapezoidal base switch by pressing it",
+    "Push the gray smooth surface switch via the left arm.",
+    "Engage the left arm to press the gray base with black buttons",
+    "Activate the switch with trapezoidal base via the left arm",
+    "Locate and press the gray base with black buttons",
+    "Use the left arm to interact with the gray switch with black buttons",
+    "Interact with the gray smooth surface switch.",
+    "Click the gray plastic switch with robotic precision",
+    "Approach and tap the gray plastic switch via the left arm",
+    "Trigger the gray plastic switch without referencing the left arm",
+    "Activate the handheld switch with robotic precision",
+    "Locate and press the gray plastic switch",
+    "Press the plastic switch with matte buttons to activate.",
+    "Deploy the left arm to press the gray plastic switch",
+    "Direct the left arm to operate the handheld switch",
+    "Click on the gray switch with black buttons precisely",
+    "Press the gray switch with black buttons with the left arm",
+    "Move to the electric toggle switch and click it.",
+    "Press the gray smooth surface switch via automation",
+    "Press the two-button gray switch carefully with the left arm",
+    "Engage the gray switch with black buttons using the left arm."
+  ],
+  "unseen": [
+    "Activate the switch at the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch",
+    "Move and click the the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode38.json b/turn_switch/piper_randomized_500/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed3382b758bd6c6e92030b979d5fd3a2043514d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to engage the two-button gray switch",
+    "Interact with the electric toggle switch directly",
+    "Locate and press the electric toggle switch",
+    "Trigger the trapezoidal base switch without referencing the right arm",
+    "Engage the right arm to press the handheld switch",
+    "Engage the plastic switch with matte buttons using the robotic arm",
+    "Engage the two-button gray switch using the right arm",
+    "Toggle the gray plastic switch with the right arm.",
+    "Locate and press the gray base with black buttons",
+    "Press the two-button gray switch using the right arm.",
+    "Activate the plastic switch with matte buttons via the right arm",
+    "Push the handheld switch via the right arm.",
+    "Tap the gray base with black buttons to engage it",
+    "Click on the electric toggle switch precisely",
+    "Click the two-button gray switch to activate it",
+    "Press the handheld switch to activate.",
+    "Set the right arm to press the two-button gray switch",
+    "Press the two-button gray switch carefully with the right arm",
+    "Click the plastic switch with matte buttons directly.",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Approach and tap the trapezoidal base switch via the right arm",
+    "Command the right arm to engage the gray switch with black buttons",
+    "Click the two-button gray switch using automated tools",
+    "Activate the the electric toggle switch using the right arm",
+    "Initiate the trapezoidal base switch by clicking",
+    "Press the gray base with black buttons using robotic control",
+    "Activate the gray smooth surface switch directly",
+    "Engage with the gray base with black buttons manually",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Deploy the right arm to operate the medium switch with trapezoidal base",
+    "Activate the plastic switch with matte buttons with the right arm.",
+    "Press the trapezoidal base switch via automation",
+    "Set the switch at the trapezoidal base switch",
+    "Deploy the right arm to press the smooth gray switch",
+    "Operate the right arm to engage the switch with trapezoidal base",
+    "Engage the trapezoidal base switch with a press.",
+    "Click the gray smooth surface switch with robotic precision",
+    "Activate the smooth gray switch with robotic precision",
+    "Use the right arm for switching the handheld switch",
+    "Press the smooth gray switch with the right arm",
+    "Interact with the gray base with black buttons.",
+    "Switch the gray base with black buttons to its active state",
+    "Operate the gray base with black buttons with the right arm",
+    "Direct the right arm to operate the plastic switch with matte buttons",
+    "Directly interact with the switch with trapezoidal base",
+    "Engage the switch with trapezoidal base using the right arm.",
+    "Activate the two-button gray switch by pressing it",
+    "Trigger the medium switch with trapezoidal base using the right arm",
+    "Use the right arm to interact with the electric toggle switch",
+    "Press the trapezoidal base switch directly",
+    "Use the right arm to engage the gray smooth surface switch",
+    "Interact with the gray smooth surface switch directly",
+    "Locate and press the gray plastic switch",
+    "Trigger the gray switch with black buttons without referencing the right arm",
+    "Engage the right arm to press the trapezoidal base switch",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Engage the gray base with black buttons using the right arm",
+    "Toggle the medium switch with trapezoidal base with the right arm.",
+    "Locate and press the gray plastic switch",
+    "Press the gray smooth surface switch using the right arm.",
+    "Activate the smooth gray switch via the right arm",
+    "Push the switch with trapezoidal base via the right arm.",
+    "Tap the trapezoidal base switch to engage it",
+    "Click on the gray base with black buttons precisely",
+    "Click the plastic switch with matte buttons to activate it",
+    "Press the gray smooth surface switch to activate.",
+    "Set the right arm to press the plastic switch with matte buttons",
+    "Press the gray plastic switch carefully with the right arm",
+    "Click the medium switch with trapezoidal base directly.",
+    "Move to the gray smooth surface switch and click it.",
+    "Approach and tap the gray smooth surface switch via the right arm",
+    "Command the right arm to engage the gray base with black buttons",
+    "Click the gray base with black buttons using automated tools",
+    "Activate the the gray plastic switch using the right arm",
+    "Initiate the two-button gray switch by clicking",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Activate the gray switch with black buttons directly",
+    "Engage with the switch with trapezoidal base manually",
+    "Trigger the gray smooth surface switch with precision",
+    "Deploy the right arm to operate the gray switch with black buttons",
+    "Activate the gray plastic switch with the right arm.",
+    "Press the gray base with black buttons via automation",
+    "Set the switch at the gray switch with black buttons",
+    "Deploy the right arm to press the smooth gray switch",
+    "Operate the right arm to engage the gray switch with black buttons",
+    "Engage the two-button gray switch with a press.",
+    "Click the trapezoidal base switch with robotic precision",
+    "Activate the gray switch with black buttons with robotic precision",
+    "Use the right arm for switching the gray smooth surface switch",
+    "Press the gray plastic switch with the right arm",
+    "Interact with the trapezoidal base switch.",
+    "Switch the gray base with black buttons to its active state",
+    "Operate the two-button gray switch with the right arm",
+    "Direct the right arm to operate the plastic switch with matte buttons",
+    "Directly interact with the gray switch with black buttons",
+    "Engage the electric toggle switch using the right arm.",
+    "Activate the electric toggle switch by pressing it",
+    "Trigger the handheld switch using the right arm",
+    "Use the right arm to interact with the gray switch with black buttons",
+    "Press the trapezoidal base switch directly"
+  ],
+  "unseen": [
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the switch with circular black buttons using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode381.json b/turn_switch/piper_randomized_500/instructions/episode381.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd4d86a5c9dba54c9799004c97cb5fb4408bede1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode381.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the plastic switch with angled edges to activate it",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Press the angled switch light tan color with the right arm",
+    "Activate the the light tan rectangular switch smooth finish using the right arm",
+    "Activate the switch with darker rectangle directly",
+    "Press the plastic switch with angled edges using robotic control",
+    "Operate the right arm to engage the rectangular switch with slanted sides",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Engage the right arm to press the flat switch",
+    "Locate and press the switch with darker rectangle",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Click on the flat switch precisely",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Activate the switch with darker rectangle with the right arm.",
+    "Deploy the right arm to operate the angled switch light tan color",
+    "Push the flat switch via the right arm.",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Engage the flat switch using the right arm.",
+    "Activate the light tan rectangular switch smooth finish via the right arm",
+    "Use the right arm for switching the rectangular switch with slanted sides",
+    "Press the switch with darker rectangle to activate.",
+    "Engage the flat switch with a press.",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Locate and press the small light tan switch",
+    "Direct the right arm to operate the switch trapezoid shape brown marking",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Interact with the switch with darker rectangle directly",
+    "Trigger the small light tan switch without referencing the right arm",
+    "Activate the small light tan switch by pressing it",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Directly interact with the angled switch light tan color",
+    "Activate the light tan rectangular switch smooth finish with robotic precision",
+    "Press the flat switch directly",
+    "Initiate the smooth tan switch with textured sides by clicking",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Engage the flat switch using the right arm",
+    "Move to the angled switch light tan color and click it.",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Operate the plastic switch with angled edges with the right arm",
+    "Toggle the rectangular switch with slanted sides with the right arm.",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Trigger the angled switch light tan color with precision",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Use the right arm to interact with the switch trapezoid shape brown marking",
+    "Use the right arm to engage the small light tan switch",
+    "Click the switch with darker rectangle to activate it",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Approach and tap the small light tan switch via the right arm",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Activate the the small light tan switch using the right arm",
+    "Activate the flat switch directly",
+    "Press the tan switch using robotic control",
+    "Operate the right arm to engage the flat switch",
+    "Set the right arm to press the light tan rectangular switch smooth finish",
+    "Engage the right arm to press the tan switch",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Deploy the right arm to press the hand-sized switch tan smooth finish",
+    "Activate the tan switch with the right arm.",
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Push the flat switch via the right arm.",
+    "Interact with the light tan rectangular switch smooth finish.",
+    "Engage the angled switch light tan color using the right arm.",
+    "Activate the small light tan switch via the right arm",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Press the switch with darker rectangle to activate.",
+    "Engage the small light tan switch with a press.",
+    "Set the switch at the smooth tan switch with textured sides",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Direct the right arm to operate the small light tan switch",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Activate the angled switch light tan color by pressing it",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Directly interact with the tan switch",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Press the flat switch directly",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Command the right arm to engage the flat switch",
+    "Engage the tan switch using the robotic arm",
+    "Engage the rectangular switch with slanted sides using the right arm",
+    "Move to the angled switch light tan color and click it.",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Operate the light tan rectangular switch smooth finish with the right arm",
+    "Toggle the flat switch with the right arm.",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Engage with the plastic switch with angled edges manually",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Use the right arm to engage the flat switch"
+  ],
+  "unseen": [
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode382.json b/turn_switch/piper_randomized_500/instructions/episode382.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dcb868139df341ca7f2f82e36402af301d43333
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode382.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Engage the tan switch using the robotic arm",
+    "Set the switch at the light tan rectangular switch smooth finish",
+    "Command the right arm to engage the rectangular switch with slanted sides",
+    "Approach and tap the plastic switch with angled edges via the right arm",
+    "Use the right arm to engage the tan switch",
+    "Click the small light tan switch to activate it",
+    "Trigger the rectangular switch with slanted sides using the right arm",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Activate the smooth tan switch with textured sides directly",
+    "Interact with the switch with darker rectangle.",
+    "Press the flat switch carefully with the right arm",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Trigger the plastic switch with angled edges with precision",
+    "Press the tan switch to activate.",
+    "Activate the switch trapezoid shape brown marking with the right arm.",
+    "Engage the smooth tan switch with textured sides using the right arm.",
+    "Engage the hand-sized switch tan smooth finish using the right arm",
+    "Locate and press the tan switch",
+    "Tap the switch with darker rectangle to engage it",
+    "Toggle the angled switch light tan color with the right arm.",
+    "Interact with the light tan rectangular switch smooth finish directly",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Set the right arm to press the hand-sized switch tan smooth finish",
+    "Engage the right arm to press the switch trapezoid shape brown marking",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Direct the right arm to operate the switch trapezoid shape brown marking",
+    "Trigger the tan switch without referencing the right arm",
+    "Press the tan switch with the right arm",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Click the tan switch using automated tools",
+    "Push the smooth tan switch with textured sides via the right arm.",
+    "Locate and press the small light tan switch",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Press the tan switch using the right arm.",
+    "Engage with the flat switch manually",
+    "Activate the the small light tan switch using the right arm",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Move to the light tan rectangular switch smooth finish and click it.",
+    "Operate the right arm to engage the rectangular switch with slanted sides",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Activate the angled switch light tan color via the right arm",
+    "Activate the switch with darker rectangle by pressing it",
+    "Click on the flat switch precisely",
+    "Click the small light tan switch directly.",
+    "Directly interact with the flat switch",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Deploy the right arm to press the tan switch",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Set the switch at the angled switch light tan color",
+    "Command the right arm to engage the rectangular switch with slanted sides",
+    "Approach and tap the smooth tan switch with textured sides via the right arm",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Click the switch with darker rectangle to activate it",
+    "Trigger the small light tan switch using the right arm",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Activate the rectangular switch with slanted sides directly",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Press the hand-sized switch tan smooth finish carefully with the right arm",
+    "Use the right arm to interact with the switch trapezoid shape brown marking",
+    "Trigger the small light tan switch with precision",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Activate the hand-sized switch tan smooth finish with the right arm.",
+    "Engage the rectangular switch with slanted sides using the right arm.",
+    "Engage the switch trapezoid shape brown marking using the right arm",
+    "Locate and press the switch with darker rectangle",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Toggle the small light tan switch with the right arm.",
+    "Interact with the flat switch directly",
+    "Press the tan switch via automation",
+    "Set the right arm to press the small light tan switch",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Direct the right arm to operate the trapezoid-shaped switch smooth surface",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Press the plastic switch with angled edges with the right arm",
+    "Engage the switch with darker rectangle with a press.",
+    "Click the flat switch using automated tools",
+    "Push the plastic switch with angled edges via the right arm.",
+    "Locate and press the angled switch light tan color",
+    "Click the hand-sized switch tan smooth finish with robotic precision",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Engage with the rectangular switch with slanted sides manually",
+    "Activate the the small light tan switch using the right arm",
+    "Switch the small light tan switch to its active state",
+    "Press the small light tan switch directly",
+    "Move to the angled switch light tan color and click it.",
+    "Operate the right arm to engage the small light tan switch",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Press the light tan rectangular switch smooth finish using robotic control",
+    "Activate the flat switch via the right arm",
+    "Activate the tan switch by pressing it",
+    "Click on the plastic switch with angled edges precisely",
+    "Click the plastic switch with angled edges directly.",
+    "Directly interact with the smooth tan switch with textured sides"
+  ],
+  "unseen": [
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode383.json b/turn_switch/piper_randomized_500/instructions/episode383.json
new file mode 100644
index 0000000000000000000000000000000000000000..b52ad8c4baa72a4b4111ac0869c2baab53101b67
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode383.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for switching the black base switch with red toggle",
+    "Press the small switch with the left arm",
+    "Operate the compact switch with toggle on top with the left arm",
+    "Engage the red and black switch using the robotic arm",
+    "Press the plastic switch with metal terminals via automation",
+    "Deploy the left arm to operate the black base switch with red toggle",
+    "Command the left arm to engage the compact switch with toggle on top",
+    "Activate the the switch with curved red toggle using the left arm",
+    "Click the switch with curved red toggle using automated tools",
+    "Click the hand-sized switch with connector prongs with robotic precision",
+    "Activate the red-top black switch with robotic precision",
+    "Activate the black switch via the left arm",
+    "Trigger the compact switch with toggle on top without referencing the left arm",
+    "Engage the red-top black switch with a press.",
+    "Engage with the small switch manually",
+    "Activate the rectangular black plastic switch by pressing it",
+    "Trigger the red and black switch using the left arm",
+    "Press the plastic switch with metal terminals using robotic control",
+    "Directly interact with the rectangular switch with curved lever",
+    "Trigger the switch with curved red toggle with precision",
+    "Interact with the plastic switch with metal terminals directly",
+    "Use the left arm to engage the compact switch with toggle on top",
+    "Click the small switch to activate it",
+    "Click the red-top black switch directly.",
+    "Activate the hand-sized switch with connector prongs with the left arm.",
+    "Direct the left arm to operate the switch with curved red toggle",
+    "Set the switch at the rectangular switch with curved lever",
+    "Set the left arm to press the compact switch with toggle on top",
+    "Tap the red-top black switch to engage it",
+    "Interact with the switch with curved red toggle.",
+    "Press the black switch carefully with the left arm",
+    "Activate the black base switch with red toggle directly",
+    "Press the black switch with metallic connectors to activate.",
+    "Press the red and black switch using the left arm.",
+    "Deploy the left arm to press the red and black switch",
+    "Engage the left arm to press the rectangular switch with curved lever",
+    "Locate and press the red and black switch",
+    "Move to the black switch with metallic connectors and click it.",
+    "Operate the left arm to engage the switch with curved red toggle",
+    "Initiate the red-top black switch by clicking",
+    "Switch the switch with curved red toggle to its active state",
+    "Engage the compact switch with toggle on top using the left arm",
+    "Locate and press the switch with curved red toggle",
+    "Press the red-top black switch directly",
+    "Use the left arm to interact with the rectangular switch with curved lever",
+    "Toggle the compact switch with toggle on top with the left arm.",
+    "Click on the red-top black switch precisely",
+    "Engage the compact switch with toggle on top using the left arm.",
+    "Push the small switch via the left arm.",
+    "Approach and tap the red and black switch via the left arm",
+    "Use the left arm for switching the red-top black switch",
+    "Press the rectangular switch with curved lever with the left arm",
+    "Operate the plastic switch with metal terminals with the left arm",
+    "Engage the red-top black switch using the robotic arm",
+    "Press the compact switch with toggle on top via automation",
+    "Deploy the left arm to operate the black switch with metallic connectors",
+    "Command the left arm to engage the red and black switch",
+    "Activate the the rectangular switch with curved lever using the left arm",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Click the red-top black switch with robotic precision",
+    "Activate the rectangular switch with curved lever with robotic precision",
+    "Activate the compact switch with toggle on top via the left arm",
+    "Trigger the hand-sized switch with connector prongs without referencing the left arm",
+    "Engage the black switch with metallic connectors with a press.",
+    "Engage with the red and black switch manually",
+    "Activate the hand-sized switch with connector prongs by pressing it",
+    "Trigger the rectangular black plastic switch using the left arm",
+    "Press the black base switch with red toggle using robotic control",
+    "Directly interact with the plastic switch with metal terminals",
+    "Trigger the plastic switch with metal terminals with precision",
+    "Interact with the switch with curved red toggle directly",
+    "Use the left arm to engage the switch with curved red toggle",
+    "Click the small switch to activate it",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Activate the plastic switch with metal terminals with the left arm.",
+    "Direct the left arm to operate the small switch",
+    "Set the switch at the red-top black switch",
+    "Set the left arm to press the red-top black switch",
+    "Tap the black switch to engage it",
+    "Interact with the red-top black switch.",
+    "Press the compact switch with toggle on top carefully with the left arm",
+    "Activate the red-top black switch directly",
+    "Press the red-top black switch to activate.",
+    "Press the rectangular switch with curved lever using the left arm.",
+    "Deploy the left arm to press the plastic switch with metal terminals",
+    "Engage the left arm to press the plastic switch with metal terminals",
+    "Locate and press the black base switch with red toggle",
+    "Move to the small switch and click it.",
+    "Operate the left arm to engage the compact switch with toggle on top",
+    "Initiate the red and black switch by clicking",
+    "Switch the red and black switch to its active state",
+    "Engage the red-top black switch using the left arm",
+    "Locate and press the red and black switch",
+    "Press the compact switch with toggle on top directly",
+    "Use the left arm to interact with the black switch",
+    "Toggle the black base switch with red toggle with the left arm.",
+    "Click on the red-top black switch precisely",
+    "Engage the small switch using the left arm.",
+    "Push the black switch via the left arm.",
+    "Approach and tap the hand-sized switch with connector prongs via the left arm"
+  ],
+  "unseen": [
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the simple toggle switch",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the switch with two metal prongs",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm.",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the switch with two metal prongs",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm.",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the simple toggle switch",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the smooth black switch with red lever",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Activate the switch at the simple toggle switch",
+    "Move and click the the switch with two metal prongs",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode384.json b/turn_switch/piper_randomized_500/instructions/episode384.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca9464e7058583c21203f84d76f635f10e1cc99
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode384.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Trigger the beige switch with smooth finish with precision",
+    "Interact with the tiny matte beige toggle switch.",
+    "Press the switch with a smooth top using robotic control",
+    "Engage with the beige switch manually",
+    "Use the right arm to engage the small trapezoid switch",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Direct the right arm to operate the small trapezoid switch",
+    "Operate the matte beige switch with flat top with the right arm",
+    "Deploy the right arm to press the toggle switch with brown rectangle button",
+    "Tap the light plastic switch to engage it",
+    "Press the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Engage the matte beige switch with flat top using the right arm.",
+    "Use the right arm to interact with the switch with brown button",
+    "Switch the switch with a smooth top to its active state",
+    "Engage the switch with a smooth top with a press.",
+    "Locate and press the matte beige switch with flat top",
+    "Use the right arm for switching the tiny matte beige toggle switch",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Activate the switch with brown button directly",
+    "Operate the right arm to engage the switch with brown button",
+    "Press the tiny matte beige toggle switch carefully with the right arm",
+    "Press the switch with rectangular dark button via automation",
+    "Directly interact with the light-colored trapezoid-shaped plastic switch",
+    "Engage the small trapezoid switch using the right arm",
+    "Activate the the toggle switch with brown rectangle button using the right arm",
+    "Engage the right arm to press the switch with brown button",
+    "Press the switch with brown button to activate.",
+    "Approach and tap the switch with brown button via the right arm",
+    "Press the tiny matte beige toggle switch with the right arm",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Press the tiny matte beige toggle switch directly",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Trigger the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Click the light-colored trapezoid-shaped plastic switch using automated tools",
+    "Set the switch at the hand-sized light beige switch",
+    "Move to the matte beige switch with flat top and click it.",
+    "Activate the switch with rectangular dark button with robotic precision",
+    "Click on the switch with brown button precisely",
+    "Command the right arm to engage the beige switch with smooth finish",
+    "Toggle the beige switch with the right arm.",
+    "Trigger the light plastic switch without referencing the right arm",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Locate and press the switch with rectangular dark button",
+    "Initiate the switch with brown button by clicking",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Deploy the right arm to operate the small trapezoid switch",
+    "Set the right arm to press the beige switch",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Trigger the beige switch with smooth finish with precision",
+    "Interact with the switch with rectangular dark button.",
+    "Press the beige switch with smooth finish using robotic control",
+    "Engage with the tiny matte beige toggle switch manually",
+    "Use the right arm to engage the beige switch",
+    "Activate the beige switch via the right arm",
+    "Direct the right arm to operate the small trapezoid switch",
+    "Operate the beige switch with smooth finish with the right arm",
+    "Deploy the right arm to press the switch with rectangular dark button",
+    "Tap the matte beige switch with flat top to engage it",
+    "Press the tiny matte beige toggle switch using the right arm.",
+    "Engage the tiny matte beige toggle switch using the right arm.",
+    "Use the right arm to interact with the toggle switch with brown rectangle button",
+    "Switch the switch with a smooth top to its active state",
+    "Engage the beige switch with smooth finish with a press.",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Use the right arm for switching the switch with brown button",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Interact with the light plastic switch directly",
+    "Activate the switch with rectangular dark button directly",
+    "Operate the right arm to engage the switch with brown button",
+    "Press the light plastic switch carefully with the right arm",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Directly interact with the toggle switch with brown rectangle button",
+    "Engage the switch with brown button using the right arm",
+    "Activate the the matte beige switch with flat top using the right arm",
+    "Engage the right arm to press the tiny matte beige toggle switch",
+    "Press the matte beige switch with flat top to activate.",
+    "Approach and tap the beige switch with smooth finish via the right arm",
+    "Press the small trapezoid switch with the right arm",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Press the beige switch with smooth finish directly",
+    "Click the switch with brown button directly.",
+    "Trigger the switch with rectangular dark button using the right arm",
+    "Click the switch with rectangular dark button using automated tools",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Move to the beige switch with smooth finish and click it.",
+    "Activate the toggle switch with brown rectangle button with robotic precision",
+    "Click on the beige switch precisely",
+    "Command the right arm to engage the hand-sized light beige switch",
+    "Toggle the toggle switch with brown rectangle button with the right arm.",
+    "Trigger the beige switch with smooth finish without referencing the right arm",
+    "Click the matte beige switch with flat top to activate it",
+    "Locate and press the switch with rectangular dark button",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Engage the light plastic switch using the robotic arm",
+    "Deploy the right arm to operate the matte beige switch with flat top",
+    "Set the right arm to press the toggle switch with brown rectangle button",
+    "Click the light plastic switch with robotic precision"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Press the beige switch with darker brown top using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode385.json b/turn_switch/piper_randomized_500/instructions/episode385.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f64e17a139c92b29a9150a1be11b00b76d1ed57
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode385.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Toggle the light gray plastic switch with the right arm.",
+    "Direct the right arm to operate the angled-edge gray square switch",
+    "Interact with the palm-sized light gray switch directly",
+    "Deploy the right arm to press the flat square with raised center",
+    "Switch the flat square with raised center to its active state",
+    "Click the switch with smooth light gray finish using automated tools",
+    "Activate the switch for electrical control via the right arm",
+    "Activate the angled-edge gray square switch with the right arm.",
+    "Command the right arm to engage the palm-sized light gray switch",
+    "Engage the right arm to press the flat square with raised center",
+    "Push the small square switch via the right arm.",
+    "Press the small square switch via automation",
+    "Trigger the square switch with smooth surface with precision",
+    "Operate the right arm to engage the small square switch made of plastic",
+    "Deploy the right arm to operate the palm-sized light gray switch",
+    "Trigger the palm-sized light gray switch using the right arm",
+    "Press the angled-edge gray square switch using robotic control",
+    "Locate and press the switch for electrical control",
+    "Activate the the angled-edge gray square switch using the right arm",
+    "Set the right arm to press the palm-sized light gray switch",
+    "Use the right arm for switching the small square switch made of plastic",
+    "Engage the square switch with smooth surface using the right arm",
+    "Click on the square gray switch panel precisely",
+    "Activate the square switch with smooth surface by pressing it",
+    "Click the flat square with raised center directly.",
+    "Use the right arm to interact with the angled-edge gray square switch",
+    "Click the smooth gray switch with robotic precision",
+    "Operate the angled-edge gray square switch with the right arm",
+    "Set the switch at the square gray switch panel",
+    "Approach and tap the square switch with smooth surface via the right arm",
+    "Engage the angled-edge gray square switch with a press.",
+    "Interact with the switch with smooth light gray finish.",
+    "Initiate the small square switch made of plastic by clicking",
+    "Directly interact with the switch for electrical control",
+    "Activate the switch with smooth light gray finish directly",
+    "Tap the small square switch made of plastic to engage it",
+    "Press the switch with smooth light gray finish carefully with the right arm",
+    "Use the right arm to engage the small square switch",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Press the palm-sized light gray switch using the right arm.",
+    "Locate and press the square switch with smooth surface",
+    "Press the switch with rectangular raised area to activate.",
+    "Activate the square gray switch panel with robotic precision",
+    "Trigger the square switch with smooth surface without referencing the right arm",
+    "Engage with the switch with smooth light gray finish manually",
+    "Engage the flat square with raised center using the right arm.",
+    "Press the light gray plastic switch with the right arm",
+    "Click the flat square with raised center to activate it",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Press the palm-sized light gray switch directly",
+    "Toggle the switch with smooth light gray finish with the right arm.",
+    "Direct the right arm to operate the square gray switch panel",
+    "Interact with the switch with smooth light gray finish directly",
+    "Deploy the right arm to press the switch for electrical control",
+    "Switch the switch with rectangular raised area to its active state",
+    "Click the angled-edge gray square switch using automated tools",
+    "Activate the switch for electrical control via the right arm",
+    "Activate the switch with rectangular raised area with the right arm.",
+    "Command the right arm to engage the small square switch",
+    "Engage the right arm to press the small square switch",
+    "Push the square gray switch panel via the right arm.",
+    "Press the switch with smooth light gray finish via automation",
+    "Trigger the palm-sized light gray switch with precision",
+    "Operate the right arm to engage the small square switch",
+    "Deploy the right arm to operate the square gray switch panel",
+    "Trigger the light gray plastic switch using the right arm",
+    "Press the small square switch made of plastic using robotic control",
+    "Locate and press the small square switch made of plastic",
+    "Activate the the switch for electrical control using the right arm",
+    "Set the right arm to press the switch with smooth light gray finish",
+    "Use the right arm for switching the small square switch made of plastic",
+    "Engage the switch for electrical control using the right arm",
+    "Click on the small square switch made of plastic precisely",
+    "Activate the palm-sized light gray switch by pressing it",
+    "Click the smooth gray switch directly.",
+    "Use the right arm to interact with the flat square with raised center",
+    "Click the palm-sized light gray switch with robotic precision",
+    "Operate the small square switch with the right arm",
+    "Set the switch at the square switch with smooth surface",
+    "Approach and tap the square gray switch panel via the right arm",
+    "Engage the square gray switch panel with a press.",
+    "Interact with the square gray switch panel.",
+    "Initiate the small square switch made of plastic by clicking",
+    "Directly interact with the angled-edge gray square switch",
+    "Activate the switch for electrical control directly",
+    "Tap the square switch with smooth surface to engage it",
+    "Press the small square switch carefully with the right arm",
+    "Use the right arm to engage the switch with rectangular raised area",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Locate and press the square gray switch panel",
+    "Press the flat square with raised center to activate.",
+    "Activate the flat square with raised center with robotic precision",
+    "Trigger the small square switch made of plastic without referencing the right arm",
+    "Engage with the small square switch made of plastic manually",
+    "Engage the small square switch using the right arm.",
+    "Press the small square switch made of plastic with the right arm",
+    "Click the small square switch to activate it",
+    "Move to the palm-sized light gray switch and click it.",
+    "Press the square gray switch panel directly"
+  ],
+  "unseen": [
+    "Direct the right arm to click the flat gray switch",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides using the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the switch with angled edges.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides using the right arm",
+    "Press the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode386.json b/turn_switch/piper_randomized_500/instructions/episode386.json
new file mode 100644
index 0000000000000000000000000000000000000000..328ae352e50a2232898a55f6b8c4a0001f2da7cf
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode386.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the rectangular switch with smooth surface to activate.",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Trigger the medium-sized black rectangular switch using the right arm",
+    "Trigger the black switch with slim profile without referencing the right arm",
+    "Activate the rectangular switch with smooth surface with the right arm.",
+    "Click the palm-sized black switch with robotic precision",
+    "Locate and press the control switch",
+    "Locate and press the compact rectangular black switch",
+    "Engage the black rectangular control switch using the right arm",
+    "Approach and tap the medium-sized black rectangular switch via the right arm",
+    "Press the switch with slanted sides using robotic control",
+    "Use the right arm for switching the palm-sized black switch",
+    "Deploy the right arm to operate the black switch with slim profile",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Press the black switch using the right arm.",
+    "Use the right arm to interact with the switch with slanted sides",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Activate the black switch with slim profile by pressing it",
+    "Press the rectangular switch with smooth surface via automation",
+    "Press the black switch with matte coating carefully with the right arm",
+    "Set the switch at the control switch",
+    "Deploy the right arm to press the palm-sized black switch",
+    "Operate the black rectangular control switch with the right arm",
+    "Press the medium-sized black rectangular switch with the right arm",
+    "Engage the sleek black rectangular switch with a press.",
+    "Interact with the compact rectangular black switch directly",
+    "Click the rectangular switch with smooth surface to activate it",
+    "Move to the sleek black rectangular switch and click it.",
+    "Command the right arm to engage the switch with slanted sides",
+    "Trigger the black switch with precision",
+    "Engage the palm-sized black switch using the robotic arm",
+    "Interact with the black switch.",
+    "Set the right arm to press the control switch",
+    "Tap the black switch with matte coating to engage it",
+    "Activate the slanted-edge plastic black switch directly",
+    "Click the black switch with matte coating directly.",
+    "Activate the the black switch with slim profile using the right arm",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Switch the black switch to its active state",
+    "Initiate the switch with slanted sides by clicking",
+    "Use the right arm to engage the rectangular switch with smooth surface",
+    "Operate the right arm to engage the black switch with matte coating",
+    "Activate the control switch via the right arm",
+    "Push the palm-sized black switch via the right arm.",
+    "Direct the right arm to operate the control switch",
+    "Directly interact with the black switch",
+    "Engage with the palm-sized black switch manually",
+    "Press the rectangular switch with smooth surface directly",
+    "Activate the compact rectangular black switch with robotic precision",
+    "Engage the sleek black rectangular switch using the right arm.",
+    "Press the control switch to activate.",
+    "Click on the compact rectangular black switch precisely",
+    "Trigger the black switch with slim profile using the right arm",
+    "Trigger the palm-sized black switch without referencing the right arm",
+    "Activate the control switch with the right arm.",
+    "Click the switch with slanted sides with robotic precision",
+    "Locate and press the black switch",
+    "Locate and press the compact rectangular black switch",
+    "Engage the control switch using the right arm",
+    "Approach and tap the compact rectangular black switch via the right arm",
+    "Press the black switch using robotic control",
+    "Use the right arm for switching the black switch with slim profile",
+    "Deploy the right arm to operate the black switch",
+    "Engage the right arm to press the control switch",
+    "Press the black rectangular control switch using the right arm.",
+    "Use the right arm to interact with the black switch",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Activate the slanted-edge plastic black switch by pressing it",
+    "Press the compact rectangular black switch via automation",
+    "Press the black switch carefully with the right arm",
+    "Set the switch at the medium-sized black rectangular switch",
+    "Deploy the right arm to press the black switch with slim profile",
+    "Operate the switch with slanted sides with the right arm",
+    "Press the rectangular switch with smooth surface with the right arm",
+    "Engage the palm-sized black switch with a press.",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Click the black switch to activate it",
+    "Move to the black rectangular control switch and click it.",
+    "Command the right arm to engage the black switch",
+    "Trigger the black rectangular control switch with precision",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Interact with the black switch with slim profile.",
+    "Set the right arm to press the compact rectangular black switch",
+    "Tap the black switch to engage it",
+    "Activate the switch with slanted sides directly",
+    "Click the compact rectangular black switch directly.",
+    "Activate the the control switch using the right arm",
+    "Click the compact rectangular black switch using automated tools",
+    "Switch the slanted-edge plastic black switch to its active state",
+    "Initiate the black switch with slim profile by clicking",
+    "Use the right arm to engage the black switch",
+    "Operate the right arm to engage the rectangular switch with smooth surface",
+    "Activate the black switch via the right arm",
+    "Push the switch with slanted sides via the right arm.",
+    "Direct the right arm to operate the rectangular switch with smooth surface",
+    "Directly interact with the control switch",
+    "Engage with the medium-sized black rectangular switch manually",
+    "Press the slanted-edge plastic black switch directly",
+    "Activate the black switch with slim profile with robotic precision",
+    "Engage the palm-sized black switch using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Press the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode39.json b/turn_switch/piper_randomized_500/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45ed05721627c30a31138ff79df8aa893d3eb14
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the switch with slanted sides",
+    "Initiate the medium-sized black rectangular switch by clicking",
+    "Activate the sleek black rectangular switch with the left arm.",
+    "Locate and press the compact rectangular black switch",
+    "Use the left arm for switching the black switch with matte coating",
+    "Press the black rectangular control switch using the left arm.",
+    "Engage the left arm to press the black switch",
+    "Activate the black switch with slim profile by pressing it",
+    "Engage with the black switch manually",
+    "Operate the left arm to engage the switch with slanted sides",
+    "Press the compact rectangular black switch via automation",
+    "Approach and tap the black switch via the left arm",
+    "Activate the control switch with robotic precision",
+    "Interact with the black rectangular control switch.",
+    "Press the palm-sized black switch using robotic control",
+    "Trigger the black switch with slim profile without referencing the left arm",
+    "Activate the rectangular switch with smooth surface directly",
+    "Engage the compact rectangular black switch using the left arm",
+    "Press the black switch with matte coating to activate.",
+    "Press the palm-sized black switch carefully with the left arm",
+    "Click the black switch using automated tools",
+    "Click the slanted-edge plastic black switch directly.",
+    "Direct the left arm to operate the black switch with matte coating",
+    "Engage the medium-sized black rectangular switch using the left arm.",
+    "Press the sleek black rectangular switch with the left arm",
+    "Directly interact with the medium-sized black rectangular switch",
+    "Trigger the black rectangular control switch using the left arm",
+    "Operate the sleek black rectangular switch with the left arm",
+    "Click the switch with slanted sides with robotic precision",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Push the black switch with matte coating via the left arm.",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Toggle the black switch with the left arm.",
+    "Activate the the sleek black rectangular switch using the left arm",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Click on the medium-sized black rectangular switch precisely",
+    "Press the compact rectangular black switch directly",
+    "Activate the black switch with matte coating via the left arm",
+    "Switch the palm-sized black switch to its active state",
+    "Click the sleek black rectangular switch to activate it",
+    "Trigger the sleek black rectangular switch with precision",
+    "Command the left arm to engage the slanted-edge plastic black switch",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Move to the black switch with matte coating and click it.",
+    "Deploy the left arm to press the black switch with slim profile",
+    "Deploy the left arm to operate the black switch with slim profile",
+    "Set the left arm to press the black switch",
+    "Use the left arm to interact with the black rectangular control switch",
+    "Engage the switch with slanted sides with a press.",
+    "Set the switch at the palm-sized black switch",
+    "Locate and press the black switch with slim profile",
+    "Initiate the black rectangular control switch by clicking",
+    "Activate the control switch with the left arm.",
+    "Locate and press the black switch with slim profile",
+    "Use the left arm for switching the palm-sized black switch",
+    "Press the medium-sized black rectangular switch using the left arm.",
+    "Engage the left arm to press the black rectangular control switch",
+    "Activate the compact rectangular black switch by pressing it",
+    "Engage with the black switch with matte coating manually",
+    "Operate the left arm to engage the medium-sized black rectangular switch",
+    "Press the slanted-edge plastic black switch via automation",
+    "Approach and tap the compact rectangular black switch via the left arm",
+    "Activate the switch with slanted sides with robotic precision",
+    "Interact with the slanted-edge plastic black switch.",
+    "Press the palm-sized black switch using robotic control",
+    "Trigger the medium-sized black rectangular switch without referencing the left arm",
+    "Activate the palm-sized black switch directly",
+    "Engage the sleek black rectangular switch using the left arm",
+    "Press the black switch with slim profile to activate.",
+    "Press the compact rectangular black switch carefully with the left arm",
+    "Click the control switch using automated tools",
+    "Click the black rectangular control switch directly.",
+    "Direct the left arm to operate the black switch",
+    "Engage the rectangular switch with smooth surface using the left arm.",
+    "Press the slanted-edge plastic black switch with the left arm",
+    "Directly interact with the sleek black rectangular switch",
+    "Trigger the control switch using the left arm",
+    "Operate the black switch with the left arm",
+    "Click the black switch with robotic precision",
+    "Tap the switch with slanted sides to engage it",
+    "Push the compact rectangular black switch via the left arm.",
+    "Use the left arm to engage the palm-sized black switch",
+    "Toggle the slanted-edge plastic black switch with the left arm.",
+    "Activate the the compact rectangular black switch using the left arm",
+    "Engage the control switch using the robotic arm",
+    "Click on the palm-sized black switch precisely",
+    "Press the switch with slanted sides directly",
+    "Activate the black switch with matte coating via the left arm",
+    "Switch the switch with slanted sides to its active state",
+    "Click the rectangular switch with smooth surface to activate it",
+    "Trigger the black switch with slim profile with precision",
+    "Command the left arm to engage the sleek black rectangular switch",
+    "Interact with the black switch with slim profile directly",
+    "Move to the slanted-edge plastic black switch and click it.",
+    "Deploy the left arm to press the rectangular switch with smooth surface",
+    "Deploy the left arm to operate the sleek black rectangular switch",
+    "Set the left arm to press the black switch",
+    "Use the left arm to interact with the sleek black rectangular switch",
+    "Engage the palm-sized black switch with a press.",
+    "Set the switch at the black switch with matte coating"
+  ],
+  "unseen": [
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Move and click the the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the matte black plastic switch",
+    "Press the smooth black switch using the left arm",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Move and click the the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Move and click the the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Activate the switch at the rectangular black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode396.json b/turn_switch/piper_randomized_500/instructions/episode396.json
new file mode 100644
index 0000000000000000000000000000000000000000..4022e57605f1c86d0a9e148f581b5e94691f6a00
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode396.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Switch the flat switch to its active state",
+    "Command the right arm to engage the tan switch",
+    "Press the flat switch carefully with the right arm",
+    "Locate and press the flat switch",
+    "Click the small light tan switch to activate it",
+    "Tap the flat switch to engage it",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Activate the angled switch light tan color via the right arm",
+    "Push the tan switch via the right arm.",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Trigger the switch with darker rectangle without referencing the right arm",
+    "Press the switch trapezoid shape brown marking with the right arm",
+    "Direct the right arm to operate the flat switch",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Move to the light tan rectangular switch smooth finish and click it.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Set the right arm to press the smooth tan switch with textured sides",
+    "Operate the rectangular switch with slanted sides with the right arm",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Initiate the small light tan switch by clicking",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Click the plastic switch with angled edges using automated tools",
+    "Engage the flat switch using the right arm.",
+    "Engage the flat switch with a press.",
+    "Approach and tap the angled switch light tan color via the right arm",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Activate the small light tan switch with the right arm.",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Press the trapezoid-shaped switch smooth surface using the right arm.",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Use the right arm for switching the rectangular switch with slanted sides",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Activate the switch with darker rectangle by pressing it",
+    "Trigger the tan switch with precision",
+    "Engage the smooth tan switch with textured sides using the right arm",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Activate the switch with darker rectangle directly",
+    "Deploy the right arm to operate the tan switch",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Press the flat switch via automation",
+    "Engage the right arm to press the plastic switch with angled edges",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Operate the right arm to engage the tan switch",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Locate and press the rectangular switch with slanted sides",
+    "Press the hand-sized switch tan smooth finish directly",
+    "Switch the flat switch to its active state",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Press the trapezoid-shaped switch smooth surface carefully with the right arm",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Click the plastic switch with angled edges to activate it",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Press the trapezoid-shaped switch smooth surface to activate.",
+    "Activate the hand-sized switch tan smooth finish via the right arm",
+    "Push the switch with darker rectangle via the right arm.",
+    "Deploy the right arm to press the plastic switch with angled edges",
+    "Trigger the flat switch without referencing the right arm",
+    "Press the light tan rectangular switch smooth finish with the right arm",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Click on the flat switch precisely",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Activate the the small light tan switch using the right arm",
+    "Set the right arm to press the small light tan switch",
+    "Operate the angled switch light tan color with the right arm",
+    "Use the right arm to interact with the flat switch",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Click the plastic switch with angled edges with robotic precision",
+    "Click the angled switch light tan color using automated tools",
+    "Engage the smooth tan switch with textured sides using the right arm.",
+    "Engage the small light tan switch with a press.",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Activate the small light tan switch with the right arm.",
+    "Press the hand-sized switch tan smooth finish using robotic control",
+    "Click the switch with darker rectangle directly.",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Press the trapezoid-shaped switch smooth surface using the right arm.",
+    "Set the switch at the switch with darker rectangle",
+    "Use the right arm for switching the angled switch light tan color",
+    "Engage the small light tan switch using the robotic arm",
+    "Activate the flat switch by pressing it",
+    "Trigger the switch with darker rectangle with precision",
+    "Engage the small light tan switch using the right arm",
+    "Activate the light tan rectangular switch smooth finish with robotic precision",
+    "Activate the flat switch directly",
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Interact with the tan switch.",
+    "Press the angled switch light tan color via automation",
+    "Engage the right arm to press the switch with darker rectangle",
+    "Engage with the flat switch manually",
+    "Operate the right arm to engage the switch with darker rectangle",
+    "Toggle the small light tan switch with the right arm.",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Press the flat switch directly"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode397.json b/turn_switch/piper_randomized_500/instructions/episode397.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e7c96bab582ca7a551ffdc11942a8739d92164
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode397.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the the black base switch using the left arm",
+    "Directly interact with the smooth red switch with labels",
+    "Interact with the smooth red switch with labels.",
+    "Deploy the left arm to operate the smooth red switch with labels",
+    "Click the black base switch directly.",
+    "Activate the small switch with red lever by pressing it",
+    "Engage with the switch for turning circuits on off manually",
+    "Locate and press the smooth red switch with labels",
+    "Interact with the switch with three metal pins directly",
+    "Set the left arm to press the toggle switch with black housing",
+    "Engage the black base switch with a press.",
+    "Click on the black base switch precisely",
+    "Engage the two-tone red black switch using the left arm.",
+    "Press the switch for turning circuits on off with the left arm",
+    "Press the small switch with red lever carefully with the left arm",
+    "Trigger the tiny rectangular switch with precision",
+    "Deploy the left arm to press the two-tone red black switch",
+    "Direct the left arm to operate the toggle switch with black housing",
+    "Move to the switch with three metal pins and click it.",
+    "Push the switch for turning circuits on off via the left arm.",
+    "Approach and tap the smooth red switch with labels via the left arm",
+    "Engage the small switch with red lever using the robotic arm",
+    "Locate and press the small switch with red lever",
+    "Tap the switch with three metal pins to engage it",
+    "Activate the smooth red switch with labels with robotic precision",
+    "Set the switch at the smooth red switch with labels",
+    "Operate the left arm to engage the smooth red switch with labels",
+    "Activate the tiny rectangular switch with the left arm.",
+    "Trigger the rectangular switch using the left arm",
+    "Click the two-tone red black switch with robotic precision",
+    "Switch the tiny rectangular switch to its active state",
+    "Press the rectangular switch using robotic control",
+    "Trigger the tiny rectangular switch without referencing the left arm",
+    "Operate the metal-pronged black switch with the left arm",
+    "Press the tiny rectangular switch via automation",
+    "Activate the two-tone red black switch via the left arm",
+    "Initiate the toggle switch with black housing by clicking",
+    "Use the left arm to engage the red and black electrical switch",
+    "Press the rectangular switch to activate.",
+    "Click the rectangular switch to activate it",
+    "Command the left arm to engage the switch for turning circuits on off",
+    "Use the left arm for switching the small switch with red lever",
+    "Toggle the small switch with red lever with the left arm.",
+    "Press the metal-pronged black switch directly",
+    "Engage the toggle switch with black housing using the left arm",
+    "Engage the left arm to press the toggle switch with black housing",
+    "Click the smooth red switch with labels using automated tools",
+    "Press the small switch with red lever using the left arm.",
+    "Activate the toggle switch with black housing directly",
+    "Use the left arm to interact with the toggle switch with black housing",
+    "Activate the the tiny rectangular switch using the left arm",
+    "Directly interact with the plastic switch with metal prongs",
+    "Interact with the toggle switch with black housing.",
+    "Deploy the left arm to operate the plastic switch with metal prongs",
+    "Click the red and black electrical switch directly.",
+    "Activate the small switch with red lever by pressing it",
+    "Engage with the rectangular switch manually",
+    "Locate and press the tiny rectangular switch",
+    "Interact with the tiny rectangular switch directly",
+    "Set the left arm to press the smooth red switch with labels",
+    "Engage the red and black electrical switch with a press.",
+    "Click on the switch with three metal pins precisely",
+    "Engage the black base switch using the left arm.",
+    "Press the rectangular switch with the left arm",
+    "Press the rectangular switch carefully with the left arm",
+    "Trigger the switch for turning circuits on off with precision",
+    "Deploy the left arm to press the rectangular switch",
+    "Direct the left arm to operate the switch for turning circuits on off",
+    "Move to the toggle switch with black housing and click it.",
+    "Push the tiny rectangular switch via the left arm.",
+    "Approach and tap the toggle switch with black housing via the left arm",
+    "Engage the metal-pronged black switch using the robotic arm",
+    "Locate and press the toggle switch with black housing",
+    "Tap the toggle switch with black housing to engage it",
+    "Activate the black base switch with robotic precision",
+    "Set the switch at the switch with three metal pins",
+    "Operate the left arm to engage the rectangular switch",
+    "Activate the black base switch with the left arm.",
+    "Trigger the black base switch using the left arm",
+    "Click the two-tone red black switch with robotic precision",
+    "Switch the toggle switch with black housing to its active state",
+    "Press the metal-pronged black switch using robotic control",
+    "Trigger the toggle switch with black housing without referencing the left arm",
+    "Operate the red and black electrical switch with the left arm",
+    "Press the black base switch via automation",
+    "Activate the plastic switch with metal prongs via the left arm",
+    "Initiate the red and black electrical switch by clicking",
+    "Use the left arm to engage the toggle switch with black housing",
+    "Press the toggle switch with black housing to activate.",
+    "Click the two-tone red black switch to activate it",
+    "Command the left arm to engage the small switch with red lever",
+    "Use the left arm for switching the red and black electrical switch",
+    "Toggle the toggle switch with black housing with the left arm.",
+    "Press the metal-pronged black switch directly",
+    "Engage the black base switch using the left arm",
+    "Engage the left arm to press the two-tone red black switch",
+    "Click the red and black electrical switch using automated tools",
+    "Press the plastic switch with metal prongs using the left arm.",
+    "Activate the two-tone red black switch directly",
+    "Use the left arm to interact with the metal-pronged black switch"
+  ],
+  "unseen": [
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the curved toggle switch with the left arm",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Click the red toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode398.json b/turn_switch/piper_randomized_500/instructions/episode398.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba0b8b22d71b170a887f03f060c780376a6d6e5
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode398.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the plastic switch with matte buttons using robotic control",
+    "Engage the right arm to press the medium switch with trapezoidal base",
+    "Locate and press the gray base with black buttons",
+    "Switch the trapezoidal base switch to its active state",
+    "Tap the gray switch with black buttons to engage it",
+    "Operate the right arm to engage the trapezoidal base switch",
+    "Activate the gray switch with black buttons with the right arm.",
+    "Move to the switch with trapezoidal base and click it.",
+    "Direct the right arm to operate the gray plastic switch",
+    "Click the two-button gray switch to activate it",
+    "Activate the gray base with black buttons by pressing it",
+    "Engage the electric toggle switch using the right arm.",
+    "Engage the electric toggle switch with a press.",
+    "Set the switch at the gray plastic switch",
+    "Press the smooth gray switch with the right arm",
+    "Command the right arm to engage the smooth gray switch",
+    "Interact with the gray base with black buttons directly",
+    "Locate and press the gray smooth surface switch",
+    "Trigger the plastic switch with matte buttons with precision",
+    "Engage with the gray smooth surface switch manually",
+    "Deploy the right arm to press the gray plastic switch",
+    "Click the smooth gray switch with robotic precision",
+    "Push the electric toggle switch via the right arm.",
+    "Engage the electric toggle switch using the right arm",
+    "Use the right arm for switching the trapezoidal base switch",
+    "Press the switch with trapezoidal base carefully with the right arm",
+    "Click the gray plastic switch using automated tools",
+    "Press the trapezoidal base switch using the right arm.",
+    "Toggle the electric toggle switch with the right arm.",
+    "Deploy the right arm to operate the gray plastic switch",
+    "Approach and tap the smooth gray switch via the right arm",
+    "Directly interact with the gray smooth surface switch",
+    "Use the right arm to engage the gray smooth surface switch",
+    "Press the switch with trapezoidal base via automation",
+    "Use the right arm to interact with the trapezoidal base switch",
+    "Activate the two-button gray switch with robotic precision",
+    "Click the plastic switch with matte buttons directly.",
+    "Set the right arm to press the gray base with black buttons",
+    "Interact with the electric toggle switch.",
+    "Press the gray base with black buttons directly",
+    "Trigger the trapezoidal base switch without referencing the right arm",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Activate the the two-button gray switch using the right arm",
+    "Click on the handheld switch precisely",
+    "Activate the gray base with black buttons directly",
+    "Activate the gray base with black buttons via the right arm",
+    "Press the trapezoidal base switch to activate.",
+    "Operate the medium switch with trapezoidal base with the right arm",
+    "Trigger the trapezoidal base switch using the right arm",
+    "Engage the two-button gray switch using the robotic arm",
+    "Press the trapezoidal base switch using robotic control",
+    "Engage the right arm to press the gray switch with black buttons",
+    "Locate and press the gray switch with black buttons",
+    "Switch the gray smooth surface switch to its active state",
+    "Tap the gray switch with black buttons to engage it",
+    "Operate the right arm to engage the two-button gray switch",
+    "Activate the two-button gray switch with the right arm.",
+    "Move to the trapezoidal base switch and click it.",
+    "Direct the right arm to operate the gray smooth surface switch",
+    "Click the gray smooth surface switch to activate it",
+    "Activate the trapezoidal base switch by pressing it",
+    "Engage the medium switch with trapezoidal base using the right arm.",
+    "Engage the gray smooth surface switch with a press.",
+    "Set the switch at the switch with trapezoidal base",
+    "Press the gray plastic switch with the right arm",
+    "Command the right arm to engage the electric toggle switch",
+    "Interact with the switch with trapezoidal base directly",
+    "Locate and press the gray switch with black buttons",
+    "Trigger the electric toggle switch with precision",
+    "Engage with the gray smooth surface switch manually",
+    "Deploy the right arm to press the switch with trapezoidal base",
+    "Click the medium switch with trapezoidal base with robotic precision",
+    "Push the gray switch with black buttons via the right arm.",
+    "Engage the trapezoidal base switch using the right arm",
+    "Use the right arm for switching the two-button gray switch",
+    "Press the electric toggle switch carefully with the right arm",
+    "Click the gray base with black buttons using automated tools",
+    "Press the smooth gray switch using the right arm.",
+    "Toggle the handheld switch with the right arm.",
+    "Deploy the right arm to operate the gray plastic switch",
+    "Approach and tap the switch with trapezoidal base via the right arm",
+    "Directly interact with the electric toggle switch",
+    "Use the right arm to engage the handheld switch",
+    "Press the gray plastic switch via automation",
+    "Use the right arm to interact with the gray switch with black buttons",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Click the trapezoidal base switch directly.",
+    "Set the right arm to press the gray smooth surface switch",
+    "Interact with the trapezoidal base switch.",
+    "Press the gray smooth surface switch directly",
+    "Trigger the handheld switch without referencing the right arm",
+    "Initiate the medium switch with trapezoidal base by clicking",
+    "Activate the the trapezoidal base switch using the right arm",
+    "Click on the electric toggle switch precisely",
+    "Activate the smooth gray switch directly",
+    "Activate the gray plastic switch via the right arm",
+    "Press the electric toggle switch to activate.",
+    "Operate the smooth gray switch with the right arm",
+    "Trigger the gray base with black buttons using the right arm",
+    "Engage the electric toggle switch using the robotic arm"
+  ],
+  "unseen": [
+    "Direct the right arm to click the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the gray switch.",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Press the switch with circular black buttons using the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Press the gray switch using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Press the gray switch medium size using the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode4.json b/turn_switch/piper_randomized_500/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e242a5af9edbd3adc63a7348bb3d45a48f1dcbc8
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the square switch with smooth surface directly.",
+    "Set the switch at the small square switch",
+    "Press the palm-sized light gray switch using robotic control",
+    "Trigger the switch with smooth light gray finish with precision",
+    "Activate the small square switch directly",
+    "Activate the the flat square with raised center using the right arm",
+    "Deploy the right arm to operate the angled-edge gray square switch",
+    "Command the right arm to engage the smooth gray switch",
+    "Click on the palm-sized light gray switch precisely",
+    "Locate and press the light gray plastic switch",
+    "Click the flat square with raised center to activate it",
+    "Engage the switch with rectangular raised area with a press.",
+    "Press the flat square with raised center to activate.",
+    "Activate the palm-sized light gray switch via the right arm",
+    "Press the small square switch with the right arm",
+    "Operate the angled-edge gray square switch with the right arm",
+    "Initiate the small square switch by clicking",
+    "Engage the square switch with smooth surface using the right arm",
+    "Click the smooth gray switch using automated tools",
+    "Trigger the small square switch without referencing the right arm",
+    "Engage with the switch for electrical control manually",
+    "Use the right arm to interact with the smooth gray switch",
+    "Switch the light gray plastic switch to its active state",
+    "Trigger the switch for electrical control using the right arm",
+    "Move to the small square switch and click it.",
+    "Directly interact with the switch with rectangular raised area",
+    "Approach and tap the smooth gray switch via the right arm",
+    "Operate the right arm to engage the square switch with smooth surface",
+    "Use the right arm for switching the switch with smooth light gray finish",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Activate the palm-sized light gray switch by pressing it",
+    "Deploy the right arm to press the switch with rectangular raised area",
+    "Locate and press the switch with rectangular raised area",
+    "Engage the switch with smooth light gray finish using the robotic arm",
+    "Press the switch with smooth light gray finish via automation",
+    "Engage the right arm to press the palm-sized light gray switch",
+    "Push the palm-sized light gray switch via the right arm.",
+    "Interact with the switch with smooth light gray finish directly",
+    "Set the right arm to press the switch with rectangular raised area",
+    "Activate the switch for electrical control with the right arm.",
+    "Direct the right arm to operate the angled-edge gray square switch",
+    "Use the right arm to engage the switch for electrical control",
+    "Press the square gray switch panel carefully with the right arm",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Engage the flat square with raised center using the right arm.",
+    "Press the palm-sized light gray switch directly",
+    "Toggle the flat square with raised center with the right arm.",
+    "Interact with the square switch with smooth surface.",
+    "Tap the switch with rectangular raised area to engage it",
+    "Click the angled-edge gray square switch directly.",
+    "Set the switch at the palm-sized light gray switch",
+    "Press the light gray plastic switch using robotic control",
+    "Trigger the switch for electrical control with precision",
+    "Activate the palm-sized light gray switch directly",
+    "Activate the the small square switch made of plastic using the right arm",
+    "Deploy the right arm to operate the angled-edge gray square switch",
+    "Command the right arm to engage the small square switch made of plastic",
+    "Click on the switch for electrical control precisely",
+    "Locate and press the angled-edge gray square switch",
+    "Click the square switch with smooth surface to activate it",
+    "Engage the switch with rectangular raised area with a press.",
+    "Press the palm-sized light gray switch to activate.",
+    "Activate the angled-edge gray square switch via the right arm",
+    "Press the small square switch made of plastic with the right arm",
+    "Operate the smooth gray switch with the right arm",
+    "Initiate the switch with smooth light gray finish by clicking",
+    "Engage the switch with rectangular raised area using the right arm",
+    "Click the smooth gray switch using automated tools",
+    "Trigger the small square switch made of plastic without referencing the right arm",
+    "Engage with the switch with smooth light gray finish manually",
+    "Use the right arm to interact with the light gray plastic switch",
+    "Switch the small square switch to its active state",
+    "Trigger the switch with smooth light gray finish using the right arm",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Directly interact with the switch for electrical control",
+    "Approach and tap the square gray switch panel via the right arm",
+    "Operate the right arm to engage the switch for electrical control",
+    "Use the right arm for switching the switch with smooth light gray finish",
+    "Click the square gray switch panel with robotic precision",
+    "Activate the switch with rectangular raised area by pressing it",
+    "Deploy the right arm to press the angled-edge gray square switch",
+    "Locate and press the square gray switch panel",
+    "Engage the flat square with raised center using the robotic arm",
+    "Press the angled-edge gray square switch via automation",
+    "Engage the right arm to press the palm-sized light gray switch",
+    "Push the switch for electrical control via the right arm.",
+    "Interact with the switch with rectangular raised area directly",
+    "Set the right arm to press the light gray plastic switch",
+    "Activate the square switch with smooth surface with the right arm.",
+    "Direct the right arm to operate the switch with smooth light gray finish",
+    "Use the right arm to engage the square switch with smooth surface",
+    "Press the angled-edge gray square switch carefully with the right arm",
+    "Press the switch with rectangular raised area using the right arm.",
+    "Activate the smooth gray switch with robotic precision",
+    "Engage the switch with rectangular raised area using the right arm.",
+    "Press the switch with smooth light gray finish directly",
+    "Toggle the square gray switch panel with the right arm.",
+    "Interact with the small square switch.",
+    "Tap the angled-edge gray square switch to engage it"
+  ],
+  "unseen": [
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the flat gray switch.",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Press the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Press the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the flat gray switch.",
+    "Press the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch using the right arm",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Press the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Activate the switch at the flat gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode40.json b/turn_switch/piper_randomized_500/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c8dfc7fda46c3534dbdee06222825bd1e0b18b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the left arm to operate the gray base with black buttons",
+    "Engage with the electric toggle switch manually",
+    "Toggle the handheld switch with the left arm.",
+    "Set the switch at the gray smooth surface switch",
+    "Click on the gray plastic switch precisely",
+    "Directly interact with the gray switch with black buttons",
+    "Tap the gray smooth surface switch to engage it",
+    "Click the gray smooth surface switch with robotic precision",
+    "Press the two-button gray switch using the left arm.",
+    "Interact with the two-button gray switch directly",
+    "Use the left arm for switching the trapezoidal base switch",
+    "Press the smooth gray switch via automation",
+    "Use the left arm to interact with the two-button gray switch",
+    "Engage the two-button gray switch using the left arm.",
+    "Activate the gray plastic switch with robotic precision",
+    "Trigger the gray plastic switch using the left arm",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Set the left arm to press the medium switch with trapezoidal base",
+    "Deploy the left arm to press the trapezoidal base switch",
+    "Press the gray base with black buttons with the left arm",
+    "Activate the trapezoidal base switch directly",
+    "Engage the gray switch with black buttons using the robotic arm",
+    "Interact with the gray plastic switch.",
+    "Initiate the two-button gray switch by clicking",
+    "Locate and press the gray smooth surface switch",
+    "Activate the the gray plastic switch using the left arm",
+    "Operate the left arm to engage the two-button gray switch",
+    "Press the medium switch with trapezoidal base to activate.",
+    "Click the electric toggle switch to activate it",
+    "Engage the left arm to press the switch with trapezoidal base",
+    "Use the left arm to engage the trapezoidal base switch",
+    "Push the trapezoidal base switch via the left arm.",
+    "Engage the gray base with black buttons using the left arm",
+    "Trigger the gray smooth surface switch without referencing the left arm",
+    "Activate the two-button gray switch via the left arm",
+    "Press the switch with trapezoidal base carefully with the left arm",
+    "Direct the left arm to operate the gray switch with black buttons",
+    "Operate the trapezoidal base switch with the left arm",
+    "Engage the gray switch with black buttons with a press.",
+    "Move to the trapezoidal base switch and click it.",
+    "Switch the gray switch with black buttons to its active state",
+    "Activate the gray smooth surface switch by pressing it",
+    "Command the left arm to engage the handheld switch",
+    "Locate and press the switch with trapezoidal base",
+    "Approach and tap the electric toggle switch via the left arm",
+    "Press the two-button gray switch using robotic control",
+    "Click the gray smooth surface switch using automated tools",
+    "Press the handheld switch directly",
+    "Activate the gray switch with black buttons with the left arm.",
+    "Click the switch with trapezoidal base directly.",
+    "Deploy the left arm to operate the trapezoidal base switch",
+    "Engage with the electric toggle switch manually",
+    "Toggle the gray switch with black buttons with the left arm.",
+    "Set the switch at the handheld switch",
+    "Click on the electric toggle switch precisely",
+    "Directly interact with the plastic switch with matte buttons",
+    "Tap the medium switch with trapezoidal base to engage it",
+    "Click the plastic switch with matte buttons with robotic precision",
+    "Press the electric toggle switch using the left arm.",
+    "Interact with the gray switch with black buttons directly",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Press the gray smooth surface switch via automation",
+    "Use the left arm to interact with the handheld switch",
+    "Engage the trapezoidal base switch using the left arm.",
+    "Activate the medium switch with trapezoidal base with robotic precision",
+    "Trigger the medium switch with trapezoidal base using the left arm",
+    "Trigger the gray plastic switch with precision",
+    "Set the left arm to press the gray switch with black buttons",
+    "Deploy the left arm to press the gray plastic switch",
+    "Press the handheld switch with the left arm",
+    "Activate the gray smooth surface switch directly",
+    "Engage the handheld switch using the robotic arm",
+    "Interact with the handheld switch.",
+    "Initiate the gray base with black buttons by clicking",
+    "Locate and press the gray plastic switch",
+    "Activate the the medium switch with trapezoidal base using the left arm",
+    "Operate the left arm to engage the trapezoidal base switch",
+    "Press the gray smooth surface switch to activate.",
+    "Click the handheld switch to activate it",
+    "Engage the left arm to press the gray plastic switch",
+    "Use the left arm to engage the gray plastic switch",
+    "Push the plastic switch with matte buttons via the left arm.",
+    "Engage the two-button gray switch using the left arm",
+    "Trigger the gray plastic switch without referencing the left arm",
+    "Activate the switch with trapezoidal base via the left arm",
+    "Press the gray plastic switch carefully with the left arm",
+    "Direct the left arm to operate the two-button gray switch",
+    "Operate the smooth gray switch with the left arm",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Move to the switch with trapezoidal base and click it.",
+    "Switch the medium switch with trapezoidal base to its active state",
+    "Activate the gray smooth surface switch by pressing it",
+    "Command the left arm to engage the gray plastic switch",
+    "Locate and press the switch with trapezoidal base",
+    "Approach and tap the handheld switch via the left arm",
+    "Press the gray switch with black buttons using robotic control",
+    "Click the gray plastic switch using automated tools",
+    "Press the gray plastic switch directly",
+    "Activate the trapezoidal base switch with the left arm.",
+    "Click the smooth gray switch directly."
+  ],
+  "unseen": [
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Press the switch with circular black buttons using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch using the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch using the left arm",
+    "Use the left arm to press the gray switch.",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons with the left arm.",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Press the gray switch medium size using the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size using the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode403.json b/turn_switch/piper_randomized_500/instructions/episode403.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ec30c2abdecb96254da681cc6a2645c7af87c5
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode403.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the palm-sized light gray switch directly",
+    "Interact with the square gray switch panel directly",
+    "Engage with the switch with smooth light gray finish manually",
+    "Click the palm-sized light gray switch with robotic precision",
+    "Press the flat square with raised center to activate.",
+    "Engage the angled-edge gray square switch using the left arm.",
+    "Press the switch with smooth light gray finish using the left arm.",
+    "Direct the left arm to operate the small square switch",
+    "Directly interact with the switch with smooth light gray finish",
+    "Press the palm-sized light gray switch carefully with the left arm",
+    "Deploy the left arm to operate the square switch with smooth surface",
+    "Locate and press the small square switch",
+    "Press the square switch with smooth surface using robotic control",
+    "Use the left arm to engage the light gray plastic switch",
+    "Click the smooth gray switch to activate it",
+    "Activate the palm-sized light gray switch with the left arm.",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Deploy the left arm to press the smooth gray switch",
+    "Click the angled-edge gray square switch using automated tools",
+    "Push the flat square with raised center via the left arm.",
+    "Activate the square gray switch panel with robotic precision",
+    "Engage the angled-edge gray square switch using the robotic arm",
+    "Interact with the light gray plastic switch.",
+    "Move to the smooth gray switch and click it.",
+    "Toggle the small square switch made of plastic with the left arm.",
+    "Click the angled-edge gray square switch directly.",
+    "Set the switch at the switch with smooth light gray finish",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Click on the small square switch precisely",
+    "Initiate the light gray plastic switch by clicking",
+    "Engage the left arm to press the switch with smooth light gray finish",
+    "Trigger the square gray switch panel using the left arm",
+    "Trigger the switch with smooth light gray finish without referencing the left arm",
+    "Locate and press the square switch with smooth surface",
+    "Press the smooth gray switch via automation",
+    "Activate the flat square with raised center by pressing it",
+    "Switch the angled-edge gray square switch to its active state",
+    "Operate the smooth gray switch with the left arm",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Tap the switch for electrical control to engage it",
+    "Command the left arm to engage the light gray plastic switch",
+    "Set the left arm to press the palm-sized light gray switch",
+    "Use the left arm to interact with the switch for electrical control",
+    "Use the left arm for switching the light gray plastic switch",
+    "Activate the switch for electrical control via the left arm",
+    "Press the square gray switch panel with the left arm",
+    "Activate the square switch with smooth surface directly",
+    "Trigger the light gray plastic switch with precision",
+    "Approach and tap the switch with smooth light gray finish via the left arm",
+    "Engage the small square switch using the left arm",
+    "Press the switch with smooth light gray finish directly",
+    "Interact with the small square switch directly",
+    "Engage with the switch with smooth light gray finish manually",
+    "Click the small square switch with robotic precision",
+    "Press the angled-edge gray square switch to activate.",
+    "Engage the small square switch made of plastic using the left arm.",
+    "Press the small square switch made of plastic using the left arm.",
+    "Direct the left arm to operate the palm-sized light gray switch",
+    "Directly interact with the small square switch made of plastic",
+    "Press the light gray plastic switch carefully with the left arm",
+    "Deploy the left arm to operate the square gray switch panel",
+    "Locate and press the flat square with raised center",
+    "Press the palm-sized light gray switch using robotic control",
+    "Use the left arm to engage the square gray switch panel",
+    "Click the switch with smooth light gray finish to activate it",
+    "Activate the square gray switch panel with the left arm.",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Deploy the left arm to press the smooth gray switch",
+    "Click the light gray plastic switch using automated tools",
+    "Push the palm-sized light gray switch via the left arm.",
+    "Activate the square gray switch panel with robotic precision",
+    "Engage the palm-sized light gray switch using the robotic arm",
+    "Interact with the switch with rectangular raised area.",
+    "Move to the smooth gray switch and click it.",
+    "Toggle the flat square with raised center with the left arm.",
+    "Click the small square switch directly.",
+    "Set the switch at the square switch with smooth surface",
+    "Operate the left arm to engage the switch for electrical control",
+    "Click on the small square switch made of plastic precisely",
+    "Initiate the small square switch by clicking",
+    "Engage the left arm to press the switch with rectangular raised area",
+    "Trigger the palm-sized light gray switch using the left arm",
+    "Trigger the switch with rectangular raised area without referencing the left arm",
+    "Locate and press the smooth gray switch",
+    "Press the switch with smooth light gray finish via automation",
+    "Activate the square gray switch panel by pressing it",
+    "Switch the square gray switch panel to its active state",
+    "Operate the switch for electrical control with the left arm",
+    "Engage the small square switch with a press.",
+    "Tap the square gray switch panel to engage it",
+    "Command the left arm to engage the switch with rectangular raised area",
+    "Set the left arm to press the flat square with raised center",
+    "Use the left arm to interact with the switch with smooth light gray finish",
+    "Use the left arm for switching the switch for electrical control",
+    "Activate the switch for electrical control via the left arm",
+    "Press the switch with rectangular raised area with the left arm",
+    "Activate the small square switch directly",
+    "Trigger the angled-edge gray square switch with precision",
+    "Approach and tap the palm-sized light gray switch via the left arm",
+    "Engage the switch for electrical control using the left arm"
+  ],
+  "unseen": [
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch.",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the left arm.",
+    "Use the left arm to press the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Use the left arm to press the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges with the left arm",
+    "Activate the switch at the gray switch with slanted sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode404.json b/turn_switch/piper_randomized_500/instructions/episode404.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b5a45d670133c1f6e7f779bd97f9b5b7a0f00a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode404.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the small square switch to activate.",
+    "Set the left arm to press the palm-sized light gray switch",
+    "Locate and press the switch with rectangular raised area",
+    "Operate the angled-edge gray square switch with the left arm",
+    "Engage the small square switch made of plastic with a press.",
+    "Click the flat square with raised center with robotic precision",
+    "Engage with the switch with smooth light gray finish manually",
+    "Operate the left arm to engage the light gray plastic switch",
+    "Direct the left arm to operate the flat square with raised center",
+    "Trigger the angled-edge gray square switch with precision",
+    "Deploy the left arm to press the switch for electrical control",
+    "Activate the square gray switch panel directly",
+    "Use the left arm for switching the flat square with raised center",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Switch the switch with smooth light gray finish to its active state",
+    "Trigger the square switch with smooth surface using the left arm",
+    "Interact with the square switch with smooth surface.",
+    "Click the small square switch made of plastic to activate it",
+    "Locate and press the small square switch",
+    "Press the switch with rectangular raised area with the left arm",
+    "Press the palm-sized light gray switch directly",
+    "Move to the small square switch and click it.",
+    "Engage the square gray switch panel using the left arm",
+    "Approach and tap the light gray plastic switch via the left arm",
+    "Press the square gray switch panel using the left arm.",
+    "Push the light gray plastic switch via the left arm.",
+    "Press the light gray plastic switch via automation",
+    "Click the switch with rectangular raised area using automated tools",
+    "Trigger the flat square with raised center without referencing the left arm",
+    "Click on the switch with rectangular raised area precisely",
+    "Use the left arm to engage the palm-sized light gray switch",
+    "Press the square gray switch panel using robotic control",
+    "Command the left arm to engage the smooth gray switch",
+    "Activate the switch for electrical control via the left arm",
+    "Toggle the angled-edge gray square switch with the left arm.",
+    "Engage the left arm to press the small square switch",
+    "Deploy the left arm to operate the light gray plastic switch",
+    "Activate the switch for electrical control by pressing it",
+    "Interact with the angled-edge gray square switch directly",
+    "Activate the smooth gray switch with robotic precision",
+    "Set the switch at the square switch with smooth surface",
+    "Engage the switch with rectangular raised area using the left arm.",
+    "Engage the switch for electrical control using the robotic arm",
+    "Activate the small square switch made of plastic with the left arm.",
+    "Directly interact with the small square switch made of plastic",
+    "Use the left arm to interact with the switch with smooth light gray finish",
+    "Activate the the small square switch made of plastic using the left arm",
+    "Click the palm-sized light gray switch directly.",
+    "Tap the switch for electrical control to engage it",
+    "Press the switch for electrical control carefully with the left arm",
+    "Press the square gray switch panel to activate.",
+    "Set the left arm to press the square gray switch panel",
+    "Locate and press the smooth gray switch",
+    "Operate the square gray switch panel with the left arm",
+    "Engage the small square switch made of plastic with a press.",
+    "Click the square switch with smooth surface with robotic precision",
+    "Engage with the angled-edge gray square switch manually",
+    "Operate the left arm to engage the smooth gray switch",
+    "Direct the left arm to operate the small square switch",
+    "Trigger the small square switch with precision",
+    "Deploy the left arm to press the small square switch made of plastic",
+    "Activate the smooth gray switch directly",
+    "Use the left arm for switching the smooth gray switch",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Switch the smooth gray switch to its active state",
+    "Trigger the switch with smooth light gray finish using the left arm",
+    "Interact with the square gray switch panel.",
+    "Click the square gray switch panel to activate it",
+    "Locate and press the switch for electrical control",
+    "Press the switch with smooth light gray finish with the left arm",
+    "Press the angled-edge gray square switch directly",
+    "Move to the smooth gray switch and click it.",
+    "Engage the angled-edge gray square switch using the left arm",
+    "Approach and tap the flat square with raised center via the left arm",
+    "Press the switch for electrical control using the left arm.",
+    "Push the light gray plastic switch via the left arm.",
+    "Press the square gray switch panel via automation",
+    "Click the light gray plastic switch using automated tools",
+    "Trigger the small square switch without referencing the left arm",
+    "Click on the square switch with smooth surface precisely",
+    "Use the left arm to engage the small square switch",
+    "Press the smooth gray switch using robotic control",
+    "Command the left arm to engage the small square switch",
+    "Activate the square gray switch panel via the left arm",
+    "Toggle the switch with rectangular raised area with the left arm.",
+    "Engage the left arm to press the palm-sized light gray switch",
+    "Deploy the left arm to operate the switch with rectangular raised area",
+    "Activate the small square switch by pressing it",
+    "Interact with the square switch with smooth surface directly",
+    "Activate the switch with smooth light gray finish with robotic precision",
+    "Set the switch at the switch with rectangular raised area",
+    "Engage the switch with rectangular raised area using the left arm.",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Activate the light gray plastic switch with the left arm.",
+    "Directly interact with the switch with rectangular raised area",
+    "Use the left arm to interact with the switch for electrical control",
+    "Activate the the palm-sized light gray switch using the left arm",
+    "Click the square switch with smooth surface directly.",
+    "Tap the small square switch to engage it",
+    "Press the switch with rectangular raised area carefully with the left arm"
+  ],
+  "unseen": [
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Press the switch with angled edges using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Click the switch with angled edges with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the switch with angled edges",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the flat gray switch with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Click the switch with angled edges with the left arm",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the flat gray switch",
+    "Press the gray switch with slanted sides using the left arm",
+    "Activate the switch at the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch with the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges using the left arm",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Press the flat gray switch using the left arm",
+    "Activate the switch at the switch with angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode408.json b/turn_switch/piper_randomized_500/instructions/episode408.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e257353a8ee78ba5901395b5c797d43b573a9b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode408.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the compact rectangular black switch",
+    "Engage the switch with slanted sides with a press.",
+    "Trigger the rectangular switch with smooth surface with precision",
+    "Move to the black switch and click it.",
+    "Trigger the black rectangular control switch without referencing the right arm",
+    "Approach and tap the black switch via the right arm",
+    "Click the rectangular switch with smooth surface using automated tools",
+    "Press the compact rectangular black switch using robotic control",
+    "Press the black switch with matte coating to activate.",
+    "Click the switch with slanted sides with robotic precision",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Tap the black switch with slim profile to engage it",
+    "Deploy the right arm to press the black switch with matte coating",
+    "Engage the black switch with matte coating using the right arm.",
+    "Locate and press the black switch with slim profile",
+    "Press the switch with slanted sides directly",
+    "Press the switch with slanted sides via automation",
+    "Activate the switch with slanted sides with robotic precision",
+    "Trigger the compact rectangular black switch using the right arm",
+    "Interact with the palm-sized black switch directly",
+    "Click on the control switch precisely",
+    "Activate the sleek black rectangular switch directly",
+    "Activate the switch with slanted sides via the right arm",
+    "Activate the switch with slanted sides by pressing it",
+    "Deploy the right arm to operate the palm-sized black switch",
+    "Press the black switch with slim profile with the right arm",
+    "Use the right arm for switching the black switch with matte coating",
+    "Press the control switch carefully with the right arm",
+    "Click the compact rectangular black switch directly.",
+    "Click the palm-sized black switch to activate it",
+    "Set the right arm to press the rectangular switch with smooth surface",
+    "Engage the switch with slanted sides using the robotic arm",
+    "Use the right arm to engage the black switch with matte coating",
+    "Press the black switch with slim profile using the right arm.",
+    "Activate the black rectangular control switch with the right arm.",
+    "Locate and press the black rectangular control switch",
+    "Engage the black switch using the right arm",
+    "Interact with the sleek black rectangular switch.",
+    "Push the black switch with matte coating via the right arm.",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Initiate the black switch by clicking",
+    "Toggle the medium-sized black rectangular switch with the right arm.",
+    "Switch the control switch to its active state",
+    "Engage with the palm-sized black switch manually",
+    "Direct the right arm to operate the black switch",
+    "Command the right arm to engage the control switch",
+    "Directly interact with the compact rectangular black switch",
+    "Operate the slanted-edge plastic black switch with the right arm",
+    "Set the switch at the black switch with matte coating",
+    "Activate the the switch with slanted sides using the right arm",
+    "Operate the right arm to engage the black rectangular control switch",
+    "Engage the compact rectangular black switch with a press.",
+    "Trigger the black switch with matte coating with precision",
+    "Move to the black switch and click it.",
+    "Trigger the palm-sized black switch without referencing the right arm",
+    "Approach and tap the control switch via the right arm",
+    "Click the switch with slanted sides using automated tools",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Press the control switch to activate.",
+    "Click the switch with slanted sides with robotic precision",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Tap the control switch to engage it",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Engage the compact rectangular black switch using the right arm.",
+    "Locate and press the sleek black rectangular switch",
+    "Press the compact rectangular black switch directly",
+    "Press the palm-sized black switch via automation",
+    "Activate the black switch with matte coating with robotic precision",
+    "Trigger the palm-sized black switch using the right arm",
+    "Interact with the palm-sized black switch directly",
+    "Click on the switch with slanted sides precisely",
+    "Activate the black rectangular control switch directly",
+    "Activate the switch with slanted sides via the right arm",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Deploy the right arm to operate the black rectangular control switch",
+    "Press the compact rectangular black switch with the right arm",
+    "Use the right arm for switching the slanted-edge plastic black switch",
+    "Press the slanted-edge plastic black switch carefully with the right arm",
+    "Click the control switch directly.",
+    "Click the black switch with matte coating to activate it",
+    "Set the right arm to press the black switch with matte coating",
+    "Engage the compact rectangular black switch using the robotic arm",
+    "Use the right arm to engage the black switch with slim profile",
+    "Press the slanted-edge plastic black switch using the right arm.",
+    "Activate the slanted-edge plastic black switch with the right arm.",
+    "Locate and press the medium-sized black rectangular switch",
+    "Engage the black switch using the right arm",
+    "Interact with the compact rectangular black switch.",
+    "Push the black switch with slim profile via the right arm.",
+    "Engage the right arm to press the black switch",
+    "Initiate the palm-sized black switch by clicking",
+    "Toggle the black switch with slim profile with the right arm.",
+    "Switch the switch with slanted sides to its active state",
+    "Engage with the sleek black rectangular switch manually",
+    "Direct the right arm to operate the black switch",
+    "Command the right arm to engage the medium-sized black rectangular switch",
+    "Directly interact with the rectangular switch with smooth surface",
+    "Operate the compact rectangular black switch with the right arm",
+    "Set the switch at the sleek black rectangular switch",
+    "Activate the the switch with slanted sides using the right arm"
+  ],
+  "unseen": [
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Move and click the the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Move and click the the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Press the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode409.json b/turn_switch/piper_randomized_500/instructions/episode409.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a2bd5ce548963f62130b482cbc3eba9186bf9e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode409.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the the black switch using the left arm",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Press the plastic switch with metal terminals carefully with the left arm",
+    "Directly interact with the black switch",
+    "Press the hand-sized switch with connector prongs using the left arm.",
+    "Activate the rectangular switch with curved lever directly",
+    "Approach and tap the rectangular switch with curved lever via the left arm",
+    "Set the switch at the plastic switch with metal terminals",
+    "Locate and press the red-top black switch",
+    "Trigger the rectangular black plastic switch using the left arm",
+    "Press the hand-sized switch with connector prongs to activate.",
+    "Interact with the red-top black switch directly",
+    "Press the black switch with metallic connectors directly",
+    "Engage the red-top black switch using the robotic arm",
+    "Press the hand-sized switch with connector prongs with the left arm",
+    "Switch the black switch to its active state",
+    "Press the black switch with metallic connectors via automation",
+    "Activate the black switch with metallic connectors with the left arm.",
+    "Deploy the left arm to operate the black base switch with red toggle",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Toggle the black base switch with red toggle with the left arm.",
+    "Set the left arm to press the red-top black switch",
+    "Interact with the red-top black switch.",
+    "Operate the compact switch with toggle on top with the left arm",
+    "Trigger the black base switch with red toggle without referencing the left arm",
+    "Operate the left arm to engage the black base switch with red toggle",
+    "Click the black switch with metallic connectors with robotic precision",
+    "Trigger the rectangular black plastic switch with precision",
+    "Command the left arm to engage the red and black switch",
+    "Initiate the black switch by clicking",
+    "Engage the left arm to press the rectangular black plastic switch",
+    "Click the compact switch with toggle on top to activate it",
+    "Activate the red-top black switch via the left arm",
+    "Use the left arm for switching the rectangular black plastic switch",
+    "Click on the red and black switch precisely",
+    "Deploy the left arm to press the black switch with metallic connectors",
+    "Direct the left arm to operate the rectangular switch with curved lever",
+    "Engage the hand-sized switch with connector prongs using the left arm",
+    "Engage the black switch using the left arm.",
+    "Use the left arm to interact with the compact switch with toggle on top",
+    "Use the left arm to engage the red-top black switch",
+    "Engage the black base switch with red toggle with a press.",
+    "Tap the red-top black switch to engage it",
+    "Move to the compact switch with toggle on top and click it.",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Press the red and black switch using robotic control",
+    "Push the rectangular black plastic switch via the left arm.",
+    "Click the compact switch with toggle on top directly.",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Engage with the red and black switch manually",
+    "Activate the the black switch using the left arm",
+    "Click the black base switch with red toggle using automated tools",
+    "Press the plastic switch with metal terminals carefully with the left arm",
+    "Directly interact with the rectangular switch with curved lever",
+    "Press the rectangular switch with curved lever using the left arm.",
+    "Activate the plastic switch with metal terminals directly",
+    "Approach and tap the plastic switch with metal terminals via the left arm",
+    "Set the switch at the hand-sized switch with connector prongs",
+    "Locate and press the compact switch with toggle on top",
+    "Trigger the black switch using the left arm",
+    "Press the black switch to activate.",
+    "Interact with the red and black switch directly",
+    "Press the plastic switch with metal terminals directly",
+    "Engage the black base switch with red toggle using the robotic arm",
+    "Press the plastic switch with metal terminals with the left arm",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Press the red-top black switch via automation",
+    "Activate the hand-sized switch with connector prongs with the left arm.",
+    "Deploy the left arm to operate the rectangular switch with curved lever",
+    "Activate the small switch by pressing it",
+    "Toggle the rectangular switch with curved lever with the left arm.",
+    "Set the left arm to press the red-top black switch",
+    "Interact with the plastic switch with metal terminals.",
+    "Operate the hand-sized switch with connector prongs with the left arm",
+    "Trigger the black switch without referencing the left arm",
+    "Operate the left arm to engage the black switch",
+    "Click the black base switch with red toggle with robotic precision",
+    "Trigger the switch with curved red toggle with precision",
+    "Command the left arm to engage the hand-sized switch with connector prongs",
+    "Initiate the small switch by clicking",
+    "Engage the left arm to press the compact switch with toggle on top",
+    "Click the rectangular black plastic switch to activate it",
+    "Activate the red and black switch via the left arm",
+    "Use the left arm for switching the rectangular black plastic switch",
+    "Click on the switch with curved red toggle precisely",
+    "Deploy the left arm to press the black switch",
+    "Direct the left arm to operate the small switch",
+    "Engage the rectangular black plastic switch using the left arm",
+    "Engage the plastic switch with metal terminals using the left arm.",
+    "Use the left arm to interact with the compact switch with toggle on top",
+    "Use the left arm to engage the switch with curved red toggle",
+    "Engage the compact switch with toggle on top with a press.",
+    "Tap the compact switch with toggle on top to engage it",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Locate and press the rectangular switch with curved lever",
+    "Press the plastic switch with metal terminals using robotic control",
+    "Push the switch with curved red toggle via the left arm.",
+    "Click the red-top black switch directly.",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Engage with the small switch manually"
+  ],
+  "unseen": [
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode412.json b/turn_switch/piper_randomized_500/instructions/episode412.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d67ae810b96358de32809ed99dfb5755ef9a989
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode412.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the compact switch with flat base using robotic control",
+    "Activate the control switch with red lever with the right arm.",
+    "Switch the compact switch with flat base to its active state",
+    "Interact with the control switch with red lever directly",
+    "Click the gray switch with red toggle using automated tools",
+    "Engage the red bar switch using the right arm",
+    "Directly interact with the light gray square switch",
+    "Click the plastic gray body switch to activate it",
+    "Initiate the red bar switch by clicking",
+    "Press the switch with thin red toggle with the right arm",
+    "Press the switch for electrical control via automation",
+    "Trigger the switch using the right arm",
+    "Activate the light gray square switch by pressing it",
+    "Push the toggle switch light gray base via the right arm.",
+    "Set the right arm to press the switch for electrical control",
+    "Operate the right arm to engage the gray switch with red toggle",
+    "Tap the red bar switch to engage it",
+    "Click the toggle switch light gray base directly.",
+    "Command the right arm to engage the red bar switch",
+    "Press the red bar switch using the right arm.",
+    "Move to the gray switch with red toggle and click it.",
+    "Trigger the control switch with red lever without referencing the right arm",
+    "Use the right arm to interact with the square switch with red bar",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Deploy the right arm to press the light gray square switch",
+    "Press the switch with thin red toggle carefully with the right arm",
+    "Click the plastic gray body switch with robotic precision",
+    "Use the right arm to engage the switch for electrical control",
+    "Operate the red bar switch with the right arm",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Press the plastic gray body switch to activate.",
+    "Activate the control switch with red lever via the right arm",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Trigger the switch with thin red toggle with precision",
+    "Activate the square switch with red bar with robotic precision",
+    "Set the switch at the toggle switch light gray base",
+    "Engage the switch for electrical control with a press.",
+    "Engage the electrical switch with protruding toggle using the right arm.",
+    "Press the switch for electrical control directly",
+    "Use the right arm for switching the plastic gray body switch",
+    "Activate the gray switch with red toggle directly",
+    "Interact with the light gray square switch.",
+    "Locate and press the control switch with red lever",
+    "Toggle the switch for electrical control with the right arm.",
+    "Locate and press the plastic gray body switch",
+    "Deploy the right arm to operate the compact switch with flat base",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Engage the right arm to press the gray switch with red toggle",
+    "Direct the right arm to operate the light gray square switch",
+    "Activate the the control switch with red lever using the right arm",
+    "Press the toggle switch light gray base using robotic control",
+    "Activate the electrical switch with protruding toggle with the right arm.",
+    "Switch the compact switch with flat base to its active state",
+    "Interact with the plastic gray body switch directly",
+    "Click the compact switch with flat base using automated tools",
+    "Engage the switch using the right arm",
+    "Directly interact with the switch",
+    "Click the compact switch with flat base to activate it",
+    "Initiate the switch with thin red toggle by clicking",
+    "Press the control switch with red lever with the right arm",
+    "Press the compact switch with flat base via automation",
+    "Trigger the compact switch with flat base using the right arm",
+    "Activate the compact switch with flat base by pressing it",
+    "Push the light gray square switch via the right arm.",
+    "Set the right arm to press the switch for electrical control",
+    "Operate the right arm to engage the electrical switch with protruding toggle",
+    "Tap the light gray square switch to engage it",
+    "Click the red bar switch directly.",
+    "Command the right arm to engage the compact switch with flat base",
+    "Press the electrical switch with protruding toggle using the right arm.",
+    "Move to the plastic gray body switch and click it.",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Use the right arm to interact with the light gray square switch",
+    "Approach and tap the switch with thin red toggle via the right arm",
+    "Deploy the right arm to press the light gray square switch",
+    "Press the light gray square switch carefully with the right arm",
+    "Click the plastic gray body switch with robotic precision",
+    "Use the right arm to engage the switch for electrical control",
+    "Operate the switch for electrical control with the right arm",
+    "Engage the switch using the robotic arm",
+    "Press the plastic gray body switch to activate.",
+    "Activate the square switch with red bar via the right arm",
+    "Click on the compact switch with flat base precisely",
+    "Trigger the square switch with red bar with precision",
+    "Activate the control switch with red lever with robotic precision",
+    "Set the switch at the red bar switch",
+    "Engage the square switch with red bar with a press.",
+    "Engage the switch for electrical control using the right arm.",
+    "Press the compact switch with flat base directly",
+    "Use the right arm for switching the gray switch with red toggle",
+    "Activate the control switch with red lever directly",
+    "Interact with the toggle switch light gray base.",
+    "Locate and press the light gray square switch",
+    "Toggle the square switch with red bar with the right arm.",
+    "Locate and press the toggle switch light gray base",
+    "Deploy the right arm to operate the red bar switch",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Engage the right arm to press the square switch with red bar",
+    "Direct the right arm to operate the compact switch with flat base",
+    "Activate the the gray switch with red toggle using the right arm"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch.",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the smooth gray base switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the smooth gray base switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Use the right arm to press the flat square gray switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode415.json b/turn_switch/piper_randomized_500/instructions/episode415.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b2e472e823ac5e47497b3978c94566728f22f1e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode415.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the tiny rectangular switch",
+    "Locate and press the tiny rectangular switch",
+    "Use the right arm for switching the switch for turning circuits on off",
+    "Press the smooth red switch with labels carefully with the right arm",
+    "Set the switch at the smooth red switch with labels",
+    "Activate the smooth red switch with labels with robotic precision",
+    "Activate the toggle switch with black housing via the right arm",
+    "Engage the smooth red switch with labels using the right arm.",
+    "Set the right arm to press the tiny rectangular switch",
+    "Initiate the metal-pronged black switch by clicking",
+    "Locate and press the plastic switch with metal prongs",
+    "Activate the the two-tone red black switch using the right arm",
+    "Direct the right arm to operate the black base switch",
+    "Press the small switch with red lever using robotic control",
+    "Engage the red and black electrical switch using the right arm",
+    "Activate the toggle switch with black housing directly",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Activate the switch with three metal pins with the right arm.",
+    "Interact with the rectangular switch directly",
+    "Move to the tiny rectangular switch and click it.",
+    "Press the toggle switch with black housing with the right arm",
+    "Push the switch for turning circuits on off via the right arm.",
+    "Engage with the switch with three metal pins manually",
+    "Operate the plastic switch with metal prongs with the right arm",
+    "Trigger the small switch with red lever with precision",
+    "Deploy the right arm to press the small switch with red lever",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Toggle the two-tone red black switch with the right arm.",
+    "Click the switch with three metal pins to activate it",
+    "Press the switch for turning circuits on off directly",
+    "Click on the metal-pronged black switch precisely",
+    "Engage the right arm to press the switch for turning circuits on off",
+    "Trigger the switch with three metal pins using the right arm",
+    "Use the right arm to interact with the switch with three metal pins",
+    "Click the rectangular switch directly.",
+    "Press the small switch with red lever via automation",
+    "Click the small switch with red lever with robotic precision",
+    "Press the tiny rectangular switch to activate.",
+    "Tap the tiny rectangular switch to engage it",
+    "Click the switch for turning circuits on off using automated tools",
+    "Switch the plastic switch with metal prongs to its active state",
+    "Directly interact with the small switch with red lever",
+    "Press the rectangular switch using the right arm.",
+    "Command the right arm to engage the toggle switch with black housing",
+    "Engage the metal-pronged black switch using the robotic arm",
+    "Operate the right arm to engage the two-tone red black switch",
+    "Approach and tap the toggle switch with black housing via the right arm",
+    "Use the right arm to engage the rectangular switch",
+    "Interact with the red and black electrical switch.",
+    "Activate the rectangular switch by pressing it",
+    "Deploy the right arm to operate the switch with three metal pins",
+    "Locate and press the metal-pronged black switch",
+    "Use the right arm for switching the black base switch",
+    "Press the black base switch carefully with the right arm",
+    "Set the switch at the tiny rectangular switch",
+    "Activate the switch with three metal pins with robotic precision",
+    "Activate the small switch with red lever via the right arm",
+    "Engage the black base switch using the right arm.",
+    "Set the right arm to press the smooth red switch with labels",
+    "Initiate the switch for turning circuits on off by clicking",
+    "Locate and press the toggle switch with black housing",
+    "Activate the the switch with three metal pins using the right arm",
+    "Direct the right arm to operate the plastic switch with metal prongs",
+    "Press the red and black electrical switch using robotic control",
+    "Engage the plastic switch with metal prongs using the right arm",
+    "Activate the plastic switch with metal prongs directly",
+    "Engage the switch with three metal pins with a press.",
+    "Activate the red and black electrical switch with the right arm.",
+    "Interact with the toggle switch with black housing directly",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Press the tiny rectangular switch with the right arm",
+    "Push the tiny rectangular switch via the right arm.",
+    "Engage with the metal-pronged black switch manually",
+    "Operate the switch with three metal pins with the right arm",
+    "Trigger the metal-pronged black switch with precision",
+    "Deploy the right arm to press the metal-pronged black switch",
+    "Trigger the plastic switch with metal prongs without referencing the right arm",
+    "Toggle the metal-pronged black switch with the right arm.",
+    "Click the toggle switch with black housing to activate it",
+    "Press the tiny rectangular switch directly",
+    "Click on the tiny rectangular switch precisely",
+    "Engage the right arm to press the rectangular switch",
+    "Trigger the red and black electrical switch using the right arm",
+    "Use the right arm to interact with the plastic switch with metal prongs",
+    "Click the plastic switch with metal prongs directly.",
+    "Press the two-tone red black switch via automation",
+    "Click the tiny rectangular switch with robotic precision",
+    "Press the smooth red switch with labels to activate.",
+    "Tap the red and black electrical switch to engage it",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Switch the smooth red switch with labels to its active state",
+    "Directly interact with the toggle switch with black housing",
+    "Press the switch with three metal pins using the right arm.",
+    "Command the right arm to engage the two-tone red black switch",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Operate the right arm to engage the plastic switch with metal prongs",
+    "Approach and tap the toggle switch with black housing via the right arm",
+    "Use the right arm to engage the switch for turning circuits on off",
+    "Interact with the toggle switch with black housing.",
+    "Activate the toggle switch with black housing by pressing it"
+  ],
+  "unseen": [
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode419.json b/turn_switch/piper_randomized_500/instructions/episode419.json
new file mode 100644
index 0000000000000000000000000000000000000000..4353f0f87b0bc77dce37564c2b14506de342daf7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode419.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the angled switch light tan color with the right arm",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Press the flat switch using the right arm.",
+    "Switch the plastic switch with angled edges to its active state",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Use the right arm to engage the plastic switch with angled edges",
+    "Deploy the right arm to operate the light tan rectangular switch smooth finish",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Approach and tap the tan switch via the right arm",
+    "Activate the angled switch light tan color with the right arm.",
+    "Use the right arm for switching the angled switch light tan color",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Command the right arm to engage the tan switch",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Initiate the flat switch by clicking",
+    "Press the plastic switch with angled edges via automation",
+    "Press the tan switch using robotic control",
+    "Click the small light tan switch with robotic precision",
+    "Activate the the trapezoid-shaped switch smooth surface using the right arm",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Direct the right arm to operate the switch trapezoid shape brown marking",
+    "Locate and press the plastic switch with angled edges",
+    "Activate the switch with darker rectangle by pressing it",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Engage with the small light tan switch manually",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Engage the switch with darker rectangle with a press.",
+    "Trigger the smooth tan switch with textured sides without referencing the right arm",
+    "Set the right arm to press the tan switch",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Set the switch at the trapezoid-shaped switch smooth surface",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Interact with the angled switch light tan color.",
+    "Trigger the flat switch using the right arm",
+    "Locate and press the switch with darker rectangle",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Use the right arm to interact with the hand-sized switch tan smooth finish",
+    "Interact with the plastic switch with angled edges directly",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Activate the flat switch with robotic precision",
+    "Move to the switch with darker rectangle and click it.",
+    "Trigger the tan switch with precision",
+    "Press the trapezoid-shaped switch smooth surface carefully with the right arm",
+    "Press the hand-sized switch tan smooth finish directly",
+    "Press the tan switch with the right arm",
+    "Click the switch trapezoid shape brown marking using automated tools",
+    "Engage the tan switch using the right arm",
+    "Press the small light tan switch using the right arm.",
+    "Switch the flat switch to its active state",
+    "Click the small light tan switch directly.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Deploy the right arm to operate the flat switch",
+    "Push the rectangular switch with slanted sides via the right arm.",
+    "Approach and tap the tan switch via the right arm",
+    "Activate the plastic switch with angled edges with the right arm.",
+    "Use the right arm for switching the angled switch light tan color",
+    "Operate the right arm to engage the small light tan switch",
+    "Command the right arm to engage the angled switch light tan color",
+    "Press the trapezoid-shaped switch smooth surface to activate.",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Press the small light tan switch via automation",
+    "Press the switch with darker rectangle using robotic control",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Activate the the flat switch using the right arm",
+    "Click the small light tan switch to activate it",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Toggle the flat switch with the right arm.",
+    "Click on the plastic switch with angled edges precisely",
+    "Direct the right arm to operate the tan switch",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Activate the angled switch light tan color by pressing it",
+    "Engage the right arm to press the angled switch light tan color",
+    "Directly interact with the plastic switch with angled edges",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Engage the flat switch using the right arm.",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Set the right arm to press the smooth tan switch with textured sides",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Set the switch at the switch with darker rectangle",
+    "Operate the light tan rectangular switch smooth finish with the right arm",
+    "Interact with the switch trapezoid shape brown marking.",
+    "Trigger the switch trapezoid shape brown marking using the right arm",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Activate the small light tan switch directly",
+    "Use the right arm to interact with the plastic switch with angled edges",
+    "Interact with the small light tan switch directly",
+    "Deploy the right arm to press the flat switch",
+    "Activate the tan switch with robotic precision",
+    "Move to the switch with darker rectangle and click it.",
+    "Trigger the flat switch with precision",
+    "Press the flat switch carefully with the right arm",
+    "Press the plastic switch with angled edges directly"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Activate the switch at the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode42.json b/turn_switch/piper_randomized_500/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a04caca05080fc5806f9831cb31f484b684eeb2
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the compact rectangular black switch.",
+    "Trigger the palm-sized black switch using the right arm",
+    "Press the switch with slanted sides via automation",
+    "Operate the right arm to engage the slanted-edge plastic black switch",
+    "Click the sleek black rectangular switch directly.",
+    "Direct the right arm to operate the rectangular switch with smooth surface",
+    "Activate the rectangular switch with smooth surface via the right arm",
+    "Initiate the black switch with slim profile by clicking",
+    "Activate the slanted-edge plastic black switch directly",
+    "Interact with the sleek black rectangular switch directly",
+    "Trigger the sleek black rectangular switch without referencing the right arm",
+    "Activate the the compact rectangular black switch using the right arm",
+    "Click the black rectangular control switch using automated tools",
+    "Command the right arm to engage the slanted-edge plastic black switch",
+    "Use the right arm to engage the compact rectangular black switch",
+    "Press the sleek black rectangular switch carefully with the right arm",
+    "Click the slanted-edge plastic black switch with robotic precision",
+    "Push the black switch with slim profile via the right arm.",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Activate the switch with slanted sides with the right arm.",
+    "Engage the palm-sized black switch using the right arm",
+    "Use the right arm for switching the palm-sized black switch",
+    "Set the right arm to press the palm-sized black switch",
+    "Operate the rectangular switch with smooth surface with the right arm",
+    "Deploy the right arm to operate the palm-sized black switch",
+    "Switch the black switch with slim profile to its active state",
+    "Toggle the black rectangular control switch with the right arm.",
+    "Press the palm-sized black switch with the right arm",
+    "Trigger the sleek black rectangular switch with precision",
+    "Approach and tap the control switch via the right arm",
+    "Locate and press the palm-sized black switch",
+    "Press the black switch to activate.",
+    "Deploy the right arm to press the control switch",
+    "Press the palm-sized black switch using robotic control",
+    "Activate the medium-sized black rectangular switch by pressing it",
+    "Click on the black switch with slim profile precisely",
+    "Press the black switch with slim profile using the right arm.",
+    "Move to the black switch with matte coating and click it.",
+    "Press the sleek black rectangular switch directly",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Engage with the control switch manually",
+    "Set the switch at the switch with slanted sides",
+    "Directly interact with the sleek black rectangular switch",
+    "Engage the rectangular switch with smooth surface with a press.",
+    "Use the right arm to interact with the palm-sized black switch",
+    "Activate the switch with slanted sides with robotic precision",
+    "Click the black switch with slim profile to activate it",
+    "Engage the right arm to press the medium-sized black rectangular switch",
+    "Locate and press the rectangular switch with smooth surface",
+    "Tap the black switch with slim profile to engage it",
+    "Interact with the rectangular switch with smooth surface.",
+    "Trigger the compact rectangular black switch using the right arm",
+    "Press the medium-sized black rectangular switch via automation",
+    "Operate the right arm to engage the black switch",
+    "Click the black switch with matte coating directly.",
+    "Direct the right arm to operate the black switch",
+    "Activate the switch with slanted sides via the right arm",
+    "Initiate the medium-sized black rectangular switch by clicking",
+    "Activate the black rectangular control switch directly",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Trigger the medium-sized black rectangular switch without referencing the right arm",
+    "Activate the the switch with slanted sides using the right arm",
+    "Click the switch with slanted sides using automated tools",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Use the right arm to engage the slanted-edge plastic black switch",
+    "Press the black switch with matte coating carefully with the right arm",
+    "Click the switch with slanted sides with robotic precision",
+    "Push the black switch with slim profile via the right arm.",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Activate the rectangular switch with smooth surface with the right arm.",
+    "Engage the black switch using the right arm",
+    "Use the right arm for switching the control switch",
+    "Set the right arm to press the compact rectangular black switch",
+    "Operate the black switch with slim profile with the right arm",
+    "Deploy the right arm to operate the rectangular switch with smooth surface",
+    "Switch the black rectangular control switch to its active state",
+    "Toggle the compact rectangular black switch with the right arm.",
+    "Press the black rectangular control switch with the right arm",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Locate and press the palm-sized black switch",
+    "Press the control switch to activate.",
+    "Deploy the right arm to press the medium-sized black rectangular switch",
+    "Press the black switch with matte coating using robotic control",
+    "Activate the black switch with slim profile by pressing it",
+    "Click on the black switch precisely",
+    "Press the compact rectangular black switch using the right arm.",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Press the black rectangular control switch directly",
+    "Engage the slanted-edge plastic black switch using the robotic arm",
+    "Engage with the black switch with matte coating manually",
+    "Set the switch at the black switch with matte coating",
+    "Directly interact with the control switch",
+    "Engage the control switch with a press.",
+    "Use the right arm to interact with the compact rectangular black switch",
+    "Activate the black switch with matte coating with robotic precision",
+    "Click the slanted-edge plastic black switch to activate it",
+    "Engage the right arm to press the switch with slanted sides",
+    "Locate and press the compact rectangular black switch",
+    "Tap the black rectangular control switch to engage it"
+  ],
+  "unseen": [
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode423.json b/turn_switch/piper_randomized_500/instructions/episode423.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3522a49acaad9c1895c7dc2336200b2f9a596ed
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode423.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the small square switch with precision",
+    "Trigger the small square switch without referencing the right arm",
+    "Press the switch with rectangular raised area carefully with the right arm",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Operate the right arm to engage the small square switch made of plastic",
+    "Engage the switch for electrical control using the right arm.",
+    "Engage the small square switch made of plastic using the right arm",
+    "Interact with the switch for electrical control directly",
+    "Operate the light gray plastic switch with the right arm",
+    "Activate the switch with smooth light gray finish by pressing it",
+    "Use the right arm for switching the palm-sized light gray switch",
+    "Push the smooth gray switch via the right arm.",
+    "Activate the flat square with raised center with robotic precision",
+    "Switch the smooth gray switch to its active state",
+    "Directly interact with the square switch with smooth surface",
+    "Activate the small square switch with the right arm.",
+    "Press the small square switch using the right arm.",
+    "Engage the square gray switch panel with a press.",
+    "Deploy the right arm to operate the switch with smooth light gray finish",
+    "Engage with the palm-sized light gray switch manually",
+    "Press the palm-sized light gray switch directly",
+    "Press the switch with smooth light gray finish with the right arm",
+    "Interact with the switch with rectangular raised area.",
+    "Set the right arm to press the flat square with raised center",
+    "Press the small square switch using robotic control",
+    "Activate the flat square with raised center directly",
+    "Use the right arm to interact with the small square switch",
+    "Tap the switch with rectangular raised area to engage it",
+    "Click the switch with rectangular raised area to activate it",
+    "Toggle the switch with smooth light gray finish with the right arm.",
+    "Activate the switch with smooth light gray finish via the right arm",
+    "Click the flat square with raised center using automated tools",
+    "Use the right arm to engage the flat square with raised center",
+    "Click the small square switch with robotic precision",
+    "Activate the the light gray plastic switch using the right arm",
+    "Command the right arm to engage the smooth gray switch",
+    "Locate and press the square switch with smooth surface",
+    "Click the small square switch made of plastic directly.",
+    "Engage the right arm to press the palm-sized light gray switch",
+    "Trigger the angled-edge gray square switch using the right arm",
+    "Press the smooth gray switch via automation",
+    "Click on the square gray switch panel precisely",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Deploy the right arm to press the small square switch made of plastic",
+    "Press the square switch with smooth surface to activate.",
+    "Approach and tap the square switch with smooth surface via the right arm",
+    "Direct the right arm to operate the angled-edge gray square switch",
+    "Engage the switch with smooth light gray finish using the robotic arm",
+    "Set the switch at the light gray plastic switch",
+    "Locate and press the switch with smooth light gray finish",
+    "Trigger the switch for electrical control with precision",
+    "Trigger the palm-sized light gray switch without referencing the right arm",
+    "Press the smooth gray switch carefully with the right arm",
+    "Move to the switch for electrical control and click it.",
+    "Operate the right arm to engage the square gray switch panel",
+    "Engage the switch with smooth light gray finish using the right arm.",
+    "Engage the smooth gray switch using the right arm",
+    "Interact with the small square switch made of plastic directly",
+    "Operate the smooth gray switch with the right arm",
+    "Activate the small square switch made of plastic by pressing it",
+    "Use the right arm for switching the switch with rectangular raised area",
+    "Push the light gray plastic switch via the right arm.",
+    "Activate the switch with smooth light gray finish with robotic precision",
+    "Switch the square gray switch panel to its active state",
+    "Directly interact with the light gray plastic switch",
+    "Activate the angled-edge gray square switch with the right arm.",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Engage the smooth gray switch with a press.",
+    "Deploy the right arm to operate the small square switch made of plastic",
+    "Engage with the light gray plastic switch manually",
+    "Press the switch for electrical control directly",
+    "Press the angled-edge gray square switch with the right arm",
+    "Interact with the angled-edge gray square switch.",
+    "Set the right arm to press the smooth gray switch",
+    "Press the smooth gray switch using robotic control",
+    "Activate the palm-sized light gray switch directly",
+    "Use the right arm to interact with the flat square with raised center",
+    "Tap the small square switch to engage it",
+    "Click the smooth gray switch to activate it",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Activate the switch with smooth light gray finish via the right arm",
+    "Click the light gray plastic switch using automated tools",
+    "Use the right arm to engage the smooth gray switch",
+    "Click the switch for electrical control with robotic precision",
+    "Activate the the small square switch made of plastic using the right arm",
+    "Command the right arm to engage the square gray switch panel",
+    "Locate and press the square switch with smooth surface",
+    "Click the flat square with raised center directly.",
+    "Engage the right arm to press the switch with rectangular raised area",
+    "Trigger the flat square with raised center using the right arm",
+    "Press the angled-edge gray square switch via automation",
+    "Click on the light gray plastic switch precisely",
+    "Initiate the switch with smooth light gray finish by clicking",
+    "Deploy the right arm to press the flat square with raised center",
+    "Press the switch for electrical control to activate.",
+    "Approach and tap the switch with smooth light gray finish via the right arm",
+    "Direct the right arm to operate the square switch with smooth surface",
+    "Engage the switch for electrical control using the robotic arm",
+    "Set the switch at the palm-sized light gray switch",
+    "Locate and press the switch for electrical control"
+  ],
+  "unseen": [
+    "Click the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the flat gray switch using the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the switch with angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode425.json b/turn_switch/piper_randomized_500/instructions/episode425.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0a7b7a22c9fa55b9e9a8dbe18c2f7c9b4c737c3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode425.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the left arm to engage the rectangular switch",
+    "Switch the small switch with red lever to its active state",
+    "Set the left arm to press the tiny rectangular switch",
+    "Directly interact with the tiny rectangular switch",
+    "Click on the small switch with red lever precisely",
+    "Operate the left arm to engage the rectangular switch",
+    "Click the red and black electrical switch with robotic precision",
+    "Activate the the rectangular switch using the left arm",
+    "Press the red and black electrical switch using robotic control",
+    "Locate and press the tiny rectangular switch",
+    "Engage the black base switch with a press.",
+    "Engage the toggle switch with black housing using the left arm",
+    "Locate and press the tiny rectangular switch",
+    "Press the switch for turning circuits on off to activate.",
+    "Trigger the rectangular switch with precision",
+    "Use the left arm to engage the switch for turning circuits on off",
+    "Move to the small switch with red lever and click it.",
+    "Press the plastic switch with metal prongs with the left arm",
+    "Use the left arm for switching the two-tone red black switch",
+    "Deploy the left arm to press the metal-pronged black switch",
+    "Push the rectangular switch via the left arm.",
+    "Interact with the plastic switch with metal prongs.",
+    "Engage the left arm to press the black base switch",
+    "Engage with the switch with three metal pins manually",
+    "Set the switch at the toggle switch with black housing",
+    "Trigger the switch for turning circuits on off without referencing the left arm",
+    "Toggle the switch with three metal pins with the left arm.",
+    "Press the switch for turning circuits on off directly",
+    "Click the metal-pronged black switch directly.",
+    "Use the left arm to interact with the switch with three metal pins",
+    "Approach and tap the toggle switch with black housing via the left arm",
+    "Activate the black base switch with robotic precision",
+    "Initiate the smooth red switch with labels by clicking",
+    "Operate the two-tone red black switch with the left arm",
+    "Engage the black base switch using the robotic arm",
+    "Deploy the left arm to operate the black base switch",
+    "Activate the small switch with red lever via the left arm",
+    "Activate the plastic switch with metal prongs directly",
+    "Tap the toggle switch with black housing to engage it",
+    "Click the toggle switch with black housing to activate it",
+    "Press the tiny rectangular switch using the left arm.",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Click the red and black electrical switch using automated tools",
+    "Activate the red and black electrical switch by pressing it",
+    "Press the switch for turning circuits on off via automation",
+    "Activate the metal-pronged black switch with the left arm.",
+    "Direct the left arm to operate the plastic switch with metal prongs",
+    "Interact with the metal-pronged black switch directly",
+    "Trigger the plastic switch with metal prongs using the left arm",
+    "Engage the red and black electrical switch using the left arm.",
+    "Command the left arm to engage the black base switch",
+    "Switch the switch with three metal pins to its active state",
+    "Set the left arm to press the metal-pronged black switch",
+    "Directly interact with the metal-pronged black switch",
+    "Click on the toggle switch with black housing precisely",
+    "Operate the left arm to engage the toggle switch with black housing",
+    "Click the black base switch with robotic precision",
+    "Activate the the rectangular switch using the left arm",
+    "Press the plastic switch with metal prongs using robotic control",
+    "Locate and press the rectangular switch",
+    "Engage the tiny rectangular switch with a press.",
+    "Engage the switch with three metal pins using the left arm",
+    "Locate and press the black base switch",
+    "Press the rectangular switch to activate.",
+    "Trigger the smooth red switch with labels with precision",
+    "Use the left arm to engage the tiny rectangular switch",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Press the metal-pronged black switch with the left arm",
+    "Use the left arm for switching the metal-pronged black switch",
+    "Deploy the left arm to press the switch with three metal pins",
+    "Push the metal-pronged black switch via the left arm.",
+    "Interact with the plastic switch with metal prongs.",
+    "Engage the left arm to press the tiny rectangular switch",
+    "Engage with the rectangular switch manually",
+    "Set the switch at the red and black electrical switch",
+    "Trigger the metal-pronged black switch without referencing the left arm",
+    "Toggle the metal-pronged black switch with the left arm.",
+    "Press the black base switch directly",
+    "Click the black base switch directly.",
+    "Use the left arm to interact with the two-tone red black switch",
+    "Approach and tap the plastic switch with metal prongs via the left arm",
+    "Activate the black base switch with robotic precision",
+    "Initiate the metal-pronged black switch by clicking",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Engage the smooth red switch with labels using the robotic arm",
+    "Deploy the left arm to operate the black base switch",
+    "Activate the black base switch via the left arm",
+    "Activate the metal-pronged black switch directly",
+    "Tap the switch for turning circuits on off to engage it",
+    "Click the smooth red switch with labels to activate it",
+    "Press the tiny rectangular switch using the left arm.",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Click the two-tone red black switch using automated tools",
+    "Activate the metal-pronged black switch by pressing it",
+    "Press the small switch with red lever via automation",
+    "Activate the switch with three metal pins with the left arm.",
+    "Direct the left arm to operate the tiny rectangular switch",
+    "Interact with the red and black electrical switch directly",
+    "Trigger the black base switch using the left arm",
+    "Engage the rectangular switch using the left arm."
+  ],
+  "unseen": [
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch.",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode428.json b/turn_switch/piper_randomized_500/instructions/episode428.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93dafb74486416037e28c5582f0f62fc4a33ac6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode428.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to interact with the black rectangular control switch",
+    "Press the palm-sized black switch via automation",
+    "Click the black switch to activate it",
+    "Locate and press the black switch",
+    "Interact with the black switch with matte coating directly",
+    "Engage with the black switch with slim profile manually",
+    "Activate the black rectangular control switch via the right arm",
+    "Initiate the switch with slanted sides by clicking",
+    "Activate the compact rectangular black switch with robotic precision",
+    "Set the switch at the control switch",
+    "Click the medium-sized black rectangular switch directly.",
+    "Tap the compact rectangular black switch to engage it",
+    "Toggle the palm-sized black switch with the right arm.",
+    "Click the rectangular switch with smooth surface using automated tools",
+    "Press the rectangular switch with smooth surface with the right arm",
+    "Operate the medium-sized black rectangular switch with the right arm",
+    "Trigger the black switch with matte coating with precision",
+    "Press the switch with slanted sides using the right arm.",
+    "Move to the compact rectangular black switch and click it.",
+    "Activate the black switch with the right arm.",
+    "Switch the rectangular switch with smooth surface to its active state",
+    "Press the medium-sized black rectangular switch carefully with the right arm",
+    "Trigger the switch with slanted sides using the right arm",
+    "Engage the black switch with slim profile with a press.",
+    "Direct the right arm to operate the medium-sized black rectangular switch",
+    "Approach and tap the control switch via the right arm",
+    "Engage the compact rectangular black switch using the right arm",
+    "Push the rectangular switch with smooth surface via the right arm.",
+    "Engage the right arm to press the black rectangular control switch",
+    "Deploy the right arm to operate the sleek black rectangular switch",
+    "Activate the the palm-sized black switch using the right arm",
+    "Set the right arm to press the slanted-edge plastic black switch",
+    "Interact with the black switch with matte coating.",
+    "Directly interact with the black rectangular control switch",
+    "Activate the black switch with matte coating by pressing it",
+    "Trigger the control switch without referencing the right arm",
+    "Engage the black rectangular control switch using the right arm.",
+    "Press the sleek black rectangular switch directly",
+    "Locate and press the black switch with matte coating",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Click the sleek black rectangular switch with robotic precision",
+    "Activate the control switch directly",
+    "Deploy the right arm to press the sleek black rectangular switch",
+    "Use the right arm to engage the sleek black rectangular switch",
+    "Press the slanted-edge plastic black switch to activate.",
+    "Operate the right arm to engage the black switch with matte coating",
+    "Click on the switch with slanted sides precisely",
+    "Command the right arm to engage the palm-sized black switch",
+    "Engage the sleek black rectangular switch using the robotic arm",
+    "Use the right arm for switching the black switch",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Press the palm-sized black switch via automation",
+    "Click the black switch with slim profile to activate it",
+    "Locate and press the slanted-edge plastic black switch",
+    "Interact with the switch with slanted sides directly",
+    "Engage with the compact rectangular black switch manually",
+    "Activate the control switch via the right arm",
+    "Initiate the black rectangular control switch by clicking",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Set the switch at the sleek black rectangular switch",
+    "Click the switch with slanted sides directly.",
+    "Tap the black rectangular control switch to engage it",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Click the black switch with matte coating using automated tools",
+    "Press the rectangular switch with smooth surface with the right arm",
+    "Operate the switch with slanted sides with the right arm",
+    "Trigger the black switch with slim profile with precision",
+    "Press the slanted-edge plastic black switch using the right arm.",
+    "Move to the black switch with slim profile and click it.",
+    "Activate the control switch with the right arm.",
+    "Switch the black switch with slim profile to its active state",
+    "Press the compact rectangular black switch carefully with the right arm",
+    "Trigger the black switch using the right arm",
+    "Engage the sleek black rectangular switch with a press.",
+    "Direct the right arm to operate the black rectangular control switch",
+    "Approach and tap the rectangular switch with smooth surface via the right arm",
+    "Engage the black switch with matte coating using the right arm",
+    "Push the rectangular switch with smooth surface via the right arm.",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Deploy the right arm to operate the black switch with slim profile",
+    "Activate the the sleek black rectangular switch using the right arm",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Interact with the switch with slanted sides.",
+    "Directly interact with the compact rectangular black switch",
+    "Activate the compact rectangular black switch by pressing it",
+    "Trigger the black switch without referencing the right arm",
+    "Engage the sleek black rectangular switch using the right arm.",
+    "Press the black rectangular control switch directly",
+    "Locate and press the medium-sized black rectangular switch",
+    "Press the palm-sized black switch using robotic control",
+    "Click the black switch with slim profile with robotic precision",
+    "Activate the sleek black rectangular switch directly",
+    "Deploy the right arm to press the control switch",
+    "Use the right arm to engage the medium-sized black rectangular switch",
+    "Press the black rectangular control switch to activate.",
+    "Operate the right arm to engage the black switch",
+    "Click on the switch with slanted sides precisely",
+    "Command the right arm to engage the switch with slanted sides",
+    "Engage the control switch using the robotic arm",
+    "Use the right arm for switching the medium-sized black rectangular switch"
+  ],
+  "unseen": [
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm.",
+    "Press the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Press the rectangular black switch using the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm.",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Activate the switch at the matte black plastic switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode430.json b/turn_switch/piper_randomized_500/instructions/episode430.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a67c03ca656d1724e95429cfeebc0b3dd1463cd
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode430.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the small switch directly.",
+    "Tap the red-top black switch to engage it",
+    "Push the black switch via the right arm.",
+    "Initiate the hand-sized switch with connector prongs by clicking",
+    "Use the right arm for switching the black base switch with red toggle",
+    "Direct the right arm to operate the compact switch with toggle on top",
+    "Use the right arm to interact with the red and black switch",
+    "Operate the right arm to engage the black switch with metallic connectors",
+    "Press the rectangular switch with curved lever carefully with the right arm",
+    "Engage the black switch using the right arm",
+    "Trigger the black switch with metallic connectors without referencing the right arm",
+    "Click the red-top black switch to activate it",
+    "Set the right arm to press the switch with curved red toggle",
+    "Activate the the plastic switch with metal terminals using the right arm",
+    "Engage the red and black switch using the right arm.",
+    "Deploy the right arm to operate the compact switch with toggle on top",
+    "Press the red and black switch to activate.",
+    "Activate the small switch directly",
+    "Deploy the right arm to press the rectangular black plastic switch",
+    "Activate the red and black switch by pressing it",
+    "Toggle the black base switch with red toggle with the right arm.",
+    "Engage the right arm to press the rectangular switch with curved lever",
+    "Engage with the red and black switch manually",
+    "Press the rectangular switch with curved lever with the right arm",
+    "Locate and press the small switch",
+    "Press the red and black switch using robotic control",
+    "Engage the red-top black switch using the robotic arm",
+    "Trigger the black base switch with red toggle using the right arm",
+    "Move to the rectangular switch with curved lever and click it.",
+    "Command the right arm to engage the black switch",
+    "Press the red and black switch directly",
+    "Interact with the compact switch with toggle on top.",
+    "Switch the red-top black switch to its active state",
+    "Click the compact switch with toggle on top using automated tools",
+    "Approach and tap the black base switch with red toggle via the right arm",
+    "Press the red and black switch via automation",
+    "Locate and press the black switch with metallic connectors",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Operate the red-top black switch with the right arm",
+    "Click the black base switch with red toggle with robotic precision",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Use the right arm to engage the black base switch with red toggle",
+    "Activate the red-top black switch via the right arm",
+    "Click on the switch with curved red toggle precisely",
+    "Activate the black base switch with red toggle with the right arm.",
+    "Trigger the hand-sized switch with connector prongs with precision",
+    "Press the black switch using the right arm.",
+    "Set the switch at the black switch",
+    "Directly interact with the black base switch with red toggle",
+    "Engage the black switch with a press.",
+    "Click the red and black switch directly.",
+    "Tap the red and black switch to engage it",
+    "Push the red-top black switch via the right arm.",
+    "Initiate the red-top black switch by clicking",
+    "Use the right arm for switching the black base switch with red toggle",
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Use the right arm to interact with the black base switch with red toggle",
+    "Operate the right arm to engage the red-top black switch",
+    "Press the rectangular black plastic switch carefully with the right arm",
+    "Engage the red and black switch using the right arm",
+    "Trigger the small switch without referencing the right arm",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Set the right arm to press the hand-sized switch with connector prongs",
+    "Activate the the compact switch with toggle on top using the right arm",
+    "Engage the black switch with metallic connectors using the right arm.",
+    "Deploy the right arm to operate the black base switch with red toggle",
+    "Press the black switch with metallic connectors to activate.",
+    "Activate the black switch directly",
+    "Deploy the right arm to press the red and black switch",
+    "Activate the small switch by pressing it",
+    "Toggle the black switch with metallic connectors with the right arm.",
+    "Engage the right arm to press the red-top black switch",
+    "Engage with the black switch with metallic connectors manually",
+    "Press the red-top black switch with the right arm",
+    "Locate and press the black switch",
+    "Press the small switch using robotic control",
+    "Engage the small switch using the robotic arm",
+    "Trigger the hand-sized switch with connector prongs using the right arm",
+    "Move to the compact switch with toggle on top and click it.",
+    "Command the right arm to engage the small switch",
+    "Press the hand-sized switch with connector prongs directly",
+    "Interact with the small switch.",
+    "Switch the small switch to its active state",
+    "Click the compact switch with toggle on top using automated tools",
+    "Approach and tap the black switch with metallic connectors via the right arm",
+    "Press the red and black switch via automation",
+    "Locate and press the black switch with metallic connectors",
+    "Activate the switch with curved red toggle with robotic precision",
+    "Operate the small switch with the right arm",
+    "Click the black switch with metallic connectors with robotic precision",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Use the right arm to engage the hand-sized switch with connector prongs",
+    "Activate the black base switch with red toggle via the right arm",
+    "Click on the compact switch with toggle on top precisely",
+    "Activate the rectangular black plastic switch with the right arm.",
+    "Trigger the red-top black switch with precision",
+    "Press the black switch using the right arm.",
+    "Set the switch at the black switch with metallic connectors",
+    "Directly interact with the rectangular switch with curved lever",
+    "Engage the hand-sized switch with connector prongs with a press."
+  ],
+  "unseen": [
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode433.json b/turn_switch/piper_randomized_500/instructions/episode433.json
new file mode 100644
index 0000000000000000000000000000000000000000..1746185ef0013826984a6ec661fc4bc9bc090425
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode433.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Directly interact with the smooth tan switch with textured sides",
+    "Switch the small light tan switch to its active state",
+    "Trigger the switch with darker rectangle with precision",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Press the smooth tan switch with textured sides via automation",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Press the flat switch with the left arm",
+    "Interact with the switch with darker rectangle.",
+    "Tap the small light tan switch to engage it",
+    "Push the angled switch light tan color via the left arm.",
+    "Use the left arm to engage the hand-sized switch tan smooth finish",
+    "Operate the tan switch with the left arm",
+    "Set the left arm to press the tan switch",
+    "Activate the the rectangular switch with slanted sides using the left arm",
+    "Click the switch with darker rectangle to activate it",
+    "Direct the left arm to operate the light tan rectangular switch smooth finish",
+    "Use the left arm for switching the hand-sized switch tan smooth finish",
+    "Engage the tan switch using the left arm",
+    "Engage the switch with darker rectangle using the left arm.",
+    "Approach and tap the light tan rectangular switch smooth finish via the left arm",
+    "Click on the switch with darker rectangle precisely",
+    "Click the small light tan switch using automated tools",
+    "Click the small light tan switch with robotic precision",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Deploy the left arm to press the switch trapezoid shape brown marking",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm",
+    "Engage the plastic switch with angled edges with a press.",
+    "Command the left arm to engage the tan switch",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Locate and press the small light tan switch",
+    "Locate and press the tan switch",
+    "Engage the left arm to press the light tan rectangular switch smooth finish",
+    "Use the left arm to interact with the switch with darker rectangle",
+    "Activate the small light tan switch directly",
+    "Move to the plastic switch with angled edges and click it.",
+    "Interact with the flat switch directly",
+    "Set the switch at the light tan rectangular switch smooth finish",
+    "Operate the left arm to engage the rectangular switch with slanted sides",
+    "Toggle the light tan rectangular switch smooth finish with the left arm.",
+    "Engage the flat switch using the robotic arm",
+    "Press the switch with darker rectangle using the left arm.",
+    "Press the hand-sized switch tan smooth finish directly",
+    "Press the smooth tan switch with textured sides carefully with the left arm",
+    "Activate the trapezoid-shaped switch smooth surface via the left arm",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Trigger the plastic switch with angled edges using the left arm",
+    "Deploy the left arm to operate the small light tan switch",
+    "Press the smooth tan switch with textured sides to activate.",
+    "Click the angled switch light tan color directly.",
+    "Press the small light tan switch using robotic control",
+    "Directly interact with the flat switch",
+    "Switch the switch with darker rectangle to its active state",
+    "Trigger the switch with darker rectangle with precision",
+    "Activate the hand-sized switch tan smooth finish by pressing it",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Initiate the small light tan switch by clicking",
+    "Press the smooth tan switch with textured sides with the left arm",
+    "Interact with the plastic switch with angled edges.",
+    "Tap the plastic switch with angled edges to engage it",
+    "Push the tan switch via the left arm.",
+    "Use the left arm to engage the smooth tan switch with textured sides",
+    "Operate the tan switch with the left arm",
+    "Set the left arm to press the plastic switch with angled edges",
+    "Activate the the small light tan switch using the left arm",
+    "Click the light tan rectangular switch smooth finish to activate it",
+    "Direct the left arm to operate the plastic switch with angled edges",
+    "Use the left arm for switching the tan switch",
+    "Engage the switch with darker rectangle using the left arm",
+    "Engage the rectangular switch with slanted sides using the left arm.",
+    "Approach and tap the flat switch via the left arm",
+    "Click on the switch with darker rectangle precisely",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Deploy the left arm to press the smooth tan switch with textured sides",
+    "Trigger the hand-sized switch tan smooth finish without referencing the left arm",
+    "Engage the switch trapezoid shape brown marking with a press.",
+    "Command the left arm to engage the switch with darker rectangle",
+    "Activate the switch trapezoid shape brown marking with the left arm.",
+    "Locate and press the plastic switch with angled edges",
+    "Locate and press the switch with darker rectangle",
+    "Engage the left arm to press the plastic switch with angled edges",
+    "Use the left arm to interact with the smooth tan switch with textured sides",
+    "Activate the flat switch directly",
+    "Move to the plastic switch with angled edges and click it.",
+    "Interact with the rectangular switch with slanted sides directly",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Operate the left arm to engage the small light tan switch",
+    "Toggle the rectangular switch with slanted sides with the left arm.",
+    "Engage the small light tan switch using the robotic arm",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Press the switch trapezoid shape brown marking directly",
+    "Press the light tan rectangular switch smooth finish carefully with the left arm",
+    "Activate the small light tan switch via the left arm",
+    "Activate the flat switch with robotic precision",
+    "Trigger the trapezoid-shaped switch smooth surface using the left arm",
+    "Deploy the left arm to operate the hand-sized switch tan smooth finish",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Click the tan switch directly."
+  ],
+  "unseen": [
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Move and click the the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Move and click the the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode438.json b/turn_switch/piper_randomized_500/instructions/episode438.json
new file mode 100644
index 0000000000000000000000000000000000000000..5314300d4b5ba18bbfb9762ae53f87993867c2f7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode438.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the rectangular switch directly",
+    "Tap the toggle switch with black housing to engage it",
+    "Trigger the red and black electrical switch without referencing the left arm",
+    "Engage the two-tone red black switch using the left arm",
+    "Click on the switch for turning circuits on off precisely",
+    "Push the tiny rectangular switch via the left arm.",
+    "Engage the left arm to press the tiny rectangular switch",
+    "Move to the metal-pronged black switch and click it.",
+    "Locate and press the switch with three metal pins",
+    "Deploy the left arm to operate the switch for turning circuits on off",
+    "Deploy the left arm to press the two-tone red black switch",
+    "Set the switch at the red and black electrical switch",
+    "Click the toggle switch with black housing directly.",
+    "Engage the black base switch with a press.",
+    "Directly interact with the toggle switch with black housing",
+    "Press the small switch with red lever using robotic control",
+    "Press the switch for turning circuits on off using the left arm.",
+    "Activate the switch with three metal pins with the left arm.",
+    "Use the left arm for switching the switch with three metal pins",
+    "Operate the tiny rectangular switch with the left arm",
+    "Trigger the switch with three metal pins with precision",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Engage with the rectangular switch manually",
+    "Toggle the smooth red switch with labels with the left arm.",
+    "Switch the switch with three metal pins to its active state",
+    "Trigger the rectangular switch using the left arm",
+    "Click the switch for turning circuits on off with robotic precision",
+    "Use the left arm to interact with the two-tone red black switch",
+    "Activate the small switch with red lever with robotic precision",
+    "Initiate the small switch with red lever by clicking",
+    "Direct the left arm to operate the toggle switch with black housing",
+    "Operate the left arm to engage the two-tone red black switch",
+    "Engage the black base switch using the left arm.",
+    "Click the rectangular switch using automated tools",
+    "Click the smooth red switch with labels to activate it",
+    "Press the tiny rectangular switch to activate.",
+    "Command the left arm to engage the tiny rectangular switch",
+    "Press the tiny rectangular switch with the left arm",
+    "Interact with the small switch with red lever.",
+    "Set the left arm to press the switch with three metal pins",
+    "Activate the two-tone red black switch by pressing it",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Activate the the toggle switch with black housing using the left arm",
+    "Activate the metal-pronged black switch directly",
+    "Press the switch for turning circuits on off via automation",
+    "Approach and tap the red and black electrical switch via the left arm",
+    "Interact with the small switch with red lever directly",
+    "Activate the black base switch via the left arm",
+    "Locate and press the black base switch",
+    "Use the left arm to engage the switch with three metal pins",
+    "Press the switch with three metal pins directly",
+    "Tap the red and black electrical switch to engage it",
+    "Trigger the switch with three metal pins without referencing the left arm",
+    "Engage the small switch with red lever using the left arm",
+    "Click on the red and black electrical switch precisely",
+    "Push the tiny rectangular switch via the left arm.",
+    "Engage the left arm to press the black base switch",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Locate and press the toggle switch with black housing",
+    "Deploy the left arm to operate the red and black electrical switch",
+    "Deploy the left arm to press the switch with three metal pins",
+    "Set the switch at the metal-pronged black switch",
+    "Click the metal-pronged black switch directly.",
+    "Engage the toggle switch with black housing with a press.",
+    "Directly interact with the switch for turning circuits on off",
+    "Press the plastic switch with metal prongs using robotic control",
+    "Press the tiny rectangular switch using the left arm.",
+    "Activate the switch with three metal pins with the left arm.",
+    "Use the left arm for switching the black base switch",
+    "Operate the switch with three metal pins with the left arm",
+    "Trigger the switch with three metal pins with precision",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Engage with the smooth red switch with labels manually",
+    "Toggle the two-tone red black switch with the left arm.",
+    "Switch the plastic switch with metal prongs to its active state",
+    "Trigger the two-tone red black switch using the left arm",
+    "Click the red and black electrical switch with robotic precision",
+    "Use the left arm to interact with the red and black electrical switch",
+    "Activate the two-tone red black switch with robotic precision",
+    "Initiate the switch with three metal pins by clicking",
+    "Direct the left arm to operate the black base switch",
+    "Operate the left arm to engage the switch with three metal pins",
+    "Engage the two-tone red black switch using the left arm.",
+    "Click the red and black electrical switch using automated tools",
+    "Click the plastic switch with metal prongs to activate it",
+    "Press the tiny rectangular switch to activate.",
+    "Command the left arm to engage the plastic switch with metal prongs",
+    "Press the switch for turning circuits on off with the left arm",
+    "Interact with the metal-pronged black switch.",
+    "Set the left arm to press the black base switch",
+    "Activate the switch for turning circuits on off by pressing it",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Activate the the black base switch using the left arm",
+    "Activate the toggle switch with black housing directly",
+    "Press the two-tone red black switch via automation",
+    "Approach and tap the red and black electrical switch via the left arm",
+    "Interact with the plastic switch with metal prongs directly",
+    "Activate the smooth red switch with labels via the left arm",
+    "Locate and press the tiny rectangular switch",
+    "Use the left arm to engage the rectangular switch"
+  ],
+  "unseen": [
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Press the red toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the red toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Click the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Move and click the the curved toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode439.json b/turn_switch/piper_randomized_500/instructions/episode439.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0c54c7131b02e7aad6eb4fe5c52abe31330578
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode439.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the right arm to operate the switch for turning circuits on off",
+    "Click the smooth red switch with labels to activate it",
+    "Trigger the plastic switch with metal prongs using the right arm",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Activate the rectangular switch by pressing it",
+    "Interact with the switch with three metal pins.",
+    "Operate the two-tone red black switch with the right arm",
+    "Push the switch with three metal pins via the right arm.",
+    "Locate and press the switch for turning circuits on off",
+    "Set the switch at the tiny rectangular switch",
+    "Set the right arm to press the small switch with red lever",
+    "Trigger the metal-pronged black switch with precision",
+    "Click the metal-pronged black switch using automated tools",
+    "Activate the the two-tone red black switch using the right arm",
+    "Toggle the red and black electrical switch with the right arm.",
+    "Direct the right arm to operate the switch with three metal pins",
+    "Press the black base switch via automation",
+    "Activate the switch for turning circuits on off directly",
+    "Engage the two-tone red black switch with a press.",
+    "Operate the right arm to engage the tiny rectangular switch",
+    "Click the smooth red switch with labels with robotic precision",
+    "Click on the small switch with red lever precisely",
+    "Use the right arm to engage the toggle switch with black housing",
+    "Press the small switch with red lever using the right arm.",
+    "Activate the switch with three metal pins with robotic precision",
+    "Use the right arm for switching the two-tone red black switch",
+    "Press the red and black electrical switch using robotic control",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Press the smooth red switch with labels with the right arm",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Press the switch for turning circuits on off to activate.",
+    "Engage the right arm to press the red and black electrical switch",
+    "Use the right arm to interact with the tiny rectangular switch",
+    "Press the switch with three metal pins directly",
+    "Switch the plastic switch with metal prongs to its active state",
+    "Activate the rectangular switch via the right arm",
+    "Tap the two-tone red black switch to engage it",
+    "Engage with the small switch with red lever manually",
+    "Deploy the right arm to press the rectangular switch",
+    "Activate the black base switch with the right arm.",
+    "Directly interact with the rectangular switch",
+    "Engage the metal-pronged black switch using the right arm",
+    "Press the switch for turning circuits on off carefully with the right arm",
+    "Initiate the smooth red switch with labels by clicking",
+    "Approach and tap the switch for turning circuits on off via the right arm",
+    "Locate and press the switch with three metal pins",
+    "Engage the switch for turning circuits on off using the right arm.",
+    "Click the tiny rectangular switch directly.",
+    "Interact with the switch for turning circuits on off directly",
+    "Command the right arm to engage the two-tone red black switch",
+    "Deploy the right arm to operate the toggle switch with black housing",
+    "Click the tiny rectangular switch to activate it",
+    "Trigger the rectangular switch using the right arm",
+    "Engage the switch for turning circuits on off using the robotic arm",
+    "Activate the metal-pronged black switch by pressing it",
+    "Interact with the tiny rectangular switch.",
+    "Operate the rectangular switch with the right arm",
+    "Push the red and black electrical switch via the right arm.",
+    "Locate and press the rectangular switch",
+    "Set the switch at the tiny rectangular switch",
+    "Set the right arm to press the plastic switch with metal prongs",
+    "Trigger the metal-pronged black switch with precision",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Activate the the smooth red switch with labels using the right arm",
+    "Toggle the black base switch with the right arm.",
+    "Direct the right arm to operate the black base switch",
+    "Press the switch with three metal pins via automation",
+    "Activate the small switch with red lever directly",
+    "Engage the toggle switch with black housing with a press.",
+    "Operate the right arm to engage the black base switch",
+    "Click the two-tone red black switch with robotic precision",
+    "Click on the rectangular switch precisely",
+    "Use the right arm to engage the metal-pronged black switch",
+    "Press the metal-pronged black switch using the right arm.",
+    "Activate the switch for turning circuits on off with robotic precision",
+    "Use the right arm for switching the toggle switch with black housing",
+    "Press the small switch with red lever using robotic control",
+    "Move to the switch for turning circuits on off and click it.",
+    "Press the metal-pronged black switch with the right arm",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Press the switch with three metal pins to activate.",
+    "Engage the right arm to press the plastic switch with metal prongs",
+    "Use the right arm to interact with the small switch with red lever",
+    "Press the red and black electrical switch directly",
+    "Switch the rectangular switch to its active state",
+    "Activate the metal-pronged black switch via the right arm",
+    "Tap the switch for turning circuits on off to engage it",
+    "Engage with the small switch with red lever manually",
+    "Deploy the right arm to press the small switch with red lever",
+    "Activate the smooth red switch with labels with the right arm.",
+    "Directly interact with the metal-pronged black switch",
+    "Engage the toggle switch with black housing using the right arm",
+    "Press the red and black electrical switch carefully with the right arm",
+    "Initiate the rectangular switch by clicking",
+    "Approach and tap the rectangular switch via the right arm",
+    "Locate and press the small switch with red lever",
+    "Engage the two-tone red black switch using the right arm.",
+    "Click the tiny rectangular switch directly.",
+    "Interact with the plastic switch with metal prongs directly",
+    "Command the right arm to engage the rectangular switch"
+  ],
+  "unseen": [
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Activate the switch at the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Activate the switch at the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode44.json b/turn_switch/piper_randomized_500/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..52433a3bc173eb2c68a081d1e581d49203b1cad0
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the plastic switch with matte buttons using the left arm.",
+    "Press the electric toggle switch via automation",
+    "Activate the the handheld switch using the left arm",
+    "Set the switch at the two-button gray switch",
+    "Move to the gray smooth surface switch and click it.",
+    "Press the plastic switch with matte buttons directly",
+    "Tap the plastic switch with matte buttons to engage it",
+    "Deploy the left arm to operate the gray plastic switch",
+    "Engage with the switch with trapezoidal base manually",
+    "Activate the gray switch with black buttons by pressing it",
+    "Initiate the medium switch with trapezoidal base by clicking",
+    "Trigger the smooth gray switch with precision",
+    "Press the switch with trapezoidal base to activate.",
+    "Use the left arm to engage the handheld switch",
+    "Press the trapezoidal base switch using the left arm.",
+    "Push the gray plastic switch via the left arm.",
+    "Switch the gray base with black buttons to its active state",
+    "Locate and press the gray switch with black buttons",
+    "Trigger the gray base with black buttons using the left arm",
+    "Interact with the gray plastic switch directly",
+    "Interact with the medium switch with trapezoidal base.",
+    "Engage the medium switch with trapezoidal base with a press.",
+    "Activate the gray plastic switch via the left arm",
+    "Toggle the electric toggle switch with the left arm.",
+    "Click on the gray smooth surface switch precisely",
+    "Activate the two-button gray switch with the left arm.",
+    "Click the gray base with black buttons using automated tools",
+    "Engage the smooth gray switch using the left arm",
+    "Trigger the gray switch with black buttons without referencing the left arm",
+    "Locate and press the smooth gray switch",
+    "Directly interact with the handheld switch",
+    "Set the left arm to press the plastic switch with matte buttons",
+    "Engage the left arm to press the two-button gray switch",
+    "Press the medium switch with trapezoidal base carefully with the left arm",
+    "Operate the left arm to engage the medium switch with trapezoidal base",
+    "Deploy the left arm to press the gray base with black buttons",
+    "Activate the plastic switch with matte buttons with robotic precision",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Use the left arm to interact with the smooth gray switch",
+    "Press the gray smooth surface switch using robotic control",
+    "Click the medium switch with trapezoidal base to activate it",
+    "Use the left arm for switching the medium switch with trapezoidal base",
+    "Operate the gray switch with black buttons with the left arm",
+    "Direct the left arm to operate the smooth gray switch",
+    "Press the gray base with black buttons with the left arm",
+    "Approach and tap the gray switch with black buttons via the left arm",
+    "Click the plastic switch with matte buttons with robotic precision",
+    "Command the left arm to engage the plastic switch with matte buttons",
+    "Click the smooth gray switch directly.",
+    "Activate the electric toggle switch directly",
+    "Engage the gray base with black buttons using the left arm.",
+    "Press the trapezoidal base switch via automation",
+    "Activate the the gray switch with black buttons using the left arm",
+    "Set the switch at the gray base with black buttons",
+    "Move to the gray switch with black buttons and click it.",
+    "Press the gray plastic switch directly",
+    "Tap the gray base with black buttons to engage it",
+    "Deploy the left arm to operate the medium switch with trapezoidal base",
+    "Engage with the handheld switch manually",
+    "Activate the two-button gray switch by pressing it",
+    "Initiate the switch with trapezoidal base by clicking",
+    "Trigger the gray switch with black buttons with precision",
+    "Press the smooth gray switch to activate.",
+    "Use the left arm to engage the gray base with black buttons",
+    "Press the gray switch with black buttons using the left arm.",
+    "Push the switch with trapezoidal base via the left arm.",
+    "Switch the gray plastic switch to its active state",
+    "Locate and press the gray switch with black buttons",
+    "Trigger the gray base with black buttons using the left arm",
+    "Interact with the plastic switch with matte buttons directly",
+    "Interact with the gray base with black buttons.",
+    "Engage the plastic switch with matte buttons with a press.",
+    "Activate the smooth gray switch via the left arm",
+    "Toggle the medium switch with trapezoidal base with the left arm.",
+    "Click on the trapezoidal base switch precisely",
+    "Activate the smooth gray switch with the left arm.",
+    "Click the medium switch with trapezoidal base using automated tools",
+    "Engage the two-button gray switch using the left arm",
+    "Trigger the switch with trapezoidal base without referencing the left arm",
+    "Locate and press the gray switch with black buttons",
+    "Directly interact with the smooth gray switch",
+    "Set the left arm to press the handheld switch",
+    "Engage the left arm to press the switch with trapezoidal base",
+    "Press the handheld switch carefully with the left arm",
+    "Operate the left arm to engage the trapezoidal base switch",
+    "Deploy the left arm to press the gray smooth surface switch",
+    "Activate the gray plastic switch with robotic precision",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Use the left arm to interact with the two-button gray switch",
+    "Press the trapezoidal base switch using robotic control",
+    "Click the gray smooth surface switch to activate it",
+    "Use the left arm for switching the plastic switch with matte buttons",
+    "Operate the gray plastic switch with the left arm",
+    "Direct the left arm to operate the switch with trapezoidal base",
+    "Press the handheld switch with the left arm",
+    "Approach and tap the two-button gray switch via the left arm",
+    "Click the electric toggle switch with robotic precision",
+    "Command the left arm to engage the gray base with black buttons",
+    "Click the electric toggle switch directly.",
+    "Activate the gray switch with black buttons directly"
+  ],
+  "unseen": [
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch with the left arm.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm.",
+    "Press the gray switch using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the gray switch",
+    "Click the gray switch using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm.",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm.",
+    "Press the switch with circular black buttons using the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm",
+    "Move and click the the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm.",
+    "Press the gray switch medium size using the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Click the gray switch with the left arm",
+    "Move and click the the gray switch",
+    "Use the left arm to press the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode440.json b/turn_switch/piper_randomized_500/instructions/episode440.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eab83b6ab4e441a7c6e5fc81663a9e996dc6c85
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode440.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the left arm to engage the matte beige switch with flat top",
+    "Press the toggle switch with brown rectangle button using robotic control",
+    "Click on the beige switch precisely",
+    "Activate the the tiny matte beige toggle switch using the left arm",
+    "Activate the toggle switch with brown rectangle button by pressing it",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Trigger the beige switch with precision",
+    "Engage the light plastic switch using the left arm.",
+    "Press the switch with brown button via automation",
+    "Engage the left arm to press the tiny matte beige toggle switch",
+    "Toggle the light plastic switch with the left arm.",
+    "Press the beige switch with smooth finish using the left arm.",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Activate the toggle switch with brown rectangle button with the left arm.",
+    "Deploy the left arm to operate the small trapezoid switch",
+    "Press the small trapezoid switch directly",
+    "Engage the switch with brown button using the left arm",
+    "Operate the beige switch with smooth finish with the left arm",
+    "Locate and press the switch with a smooth top",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Use the left arm for switching the small trapezoid switch",
+    "Directly interact with the light plastic switch",
+    "Interact with the hand-sized light beige switch directly",
+    "Click the tiny matte beige toggle switch directly.",
+    "Initiate the switch with rectangular dark button by clicking",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Trigger the tiny matte beige toggle switch using the left arm",
+    "Locate and press the small trapezoid switch",
+    "Press the light-colored trapezoid-shaped plastic switch with the left arm",
+    "Push the hand-sized light beige switch via the left arm.",
+    "Engage with the light plastic switch manually",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Deploy the left arm to press the switch with a smooth top",
+    "Use the left arm to interact with the tiny matte beige toggle switch",
+    "Interact with the switch with brown button.",
+    "Trigger the matte beige switch with flat top without referencing the left arm",
+    "Activate the beige switch with robotic precision",
+    "Click the beige switch using automated tools",
+    "Activate the hand-sized light beige switch directly",
+    "Activate the tiny matte beige toggle switch via the left arm",
+    "Tap the light plastic switch to engage it",
+    "Press the switch with a smooth top carefully with the left arm",
+    "Direct the left arm to operate the beige switch with smooth finish",
+    "Set the left arm to press the matte beige switch with flat top",
+    "Click the small trapezoid switch with robotic precision",
+    "Click the small trapezoid switch to activate it",
+    "Use the left arm to engage the switch with brown button",
+    "Operate the left arm to engage the small trapezoid switch",
+    "Switch the toggle switch with brown rectangle button to its active state",
+    "Command the left arm to engage the switch with brown button",
+    "Press the light-colored trapezoid-shaped plastic switch using robotic control",
+    "Click on the beige switch precisely",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Activate the hand-sized light beige switch by pressing it",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Set the switch at the switch with rectangular dark button",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Engage the switch with brown button using the left arm.",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Engage the left arm to press the beige switch",
+    "Toggle the tiny matte beige toggle switch with the left arm.",
+    "Press the beige switch using the left arm.",
+    "Approach and tap the beige switch with smooth finish via the left arm",
+    "Activate the matte beige switch with flat top with the left arm.",
+    "Deploy the left arm to operate the toggle switch with brown rectangle button",
+    "Press the hand-sized light beige switch directly",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Operate the switch with a smooth top with the left arm",
+    "Locate and press the beige switch",
+    "Move to the switch with brown button and click it.",
+    "Use the left arm for switching the small trapezoid switch",
+    "Directly interact with the tiny matte beige toggle switch",
+    "Interact with the switch with rectangular dark button directly",
+    "Click the beige switch directly.",
+    "Initiate the beige switch with smooth finish by clicking",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Trigger the toggle switch with brown rectangle button using the left arm",
+    "Locate and press the switch with rectangular dark button",
+    "Press the tiny matte beige toggle switch with the left arm",
+    "Push the switch with brown button via the left arm.",
+    "Engage with the switch with a smooth top manually",
+    "Engage the switch with a smooth top with a press.",
+    "Deploy the left arm to press the tiny matte beige toggle switch",
+    "Use the left arm to interact with the switch with a smooth top",
+    "Interact with the light plastic switch.",
+    "Trigger the tiny matte beige toggle switch without referencing the left arm",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Click the switch with brown button using automated tools",
+    "Activate the small trapezoid switch directly",
+    "Activate the beige switch via the left arm",
+    "Tap the switch with a smooth top to engage it",
+    "Press the small trapezoid switch carefully with the left arm",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Set the left arm to press the hand-sized light beige switch",
+    "Click the matte beige switch with flat top with robotic precision",
+    "Click the hand-sized light beige switch to activate it",
+    "Use the left arm to engage the hand-sized light beige switch",
+    "Operate the left arm to engage the switch with rectangular dark button",
+    "Switch the beige switch to its active state"
+  ],
+  "unseen": [
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode441.json b/turn_switch/piper_randomized_500/instructions/episode441.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76f0884141b4b3ebca4306bc3e1b2d15509558f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode441.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the palm-sized black switch with robotic precision",
+    "Use the right arm to engage the switch with slanted sides",
+    "Engage the switch with slanted sides with a press.",
+    "Click the slanted-edge plastic black switch directly.",
+    "Interact with the control switch.",
+    "Initiate the sleek black rectangular switch by clicking",
+    "Activate the the switch with slanted sides using the right arm",
+    "Click the sleek black rectangular switch to activate it",
+    "Deploy the right arm to press the control switch",
+    "Locate and press the rectangular switch with smooth surface",
+    "Activate the black rectangular control switch via the right arm",
+    "Engage the slanted-edge plastic black switch using the right arm",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Set the switch at the sleek black rectangular switch",
+    "Trigger the sleek black rectangular switch using the right arm",
+    "Engage the right arm to press the control switch",
+    "Use the right arm for switching the sleek black rectangular switch",
+    "Push the black rectangular control switch via the right arm.",
+    "Press the control switch using robotic control",
+    "Engage the black switch using the right arm.",
+    "Activate the medium-sized black rectangular switch directly",
+    "Click on the black switch with matte coating precisely",
+    "Press the black rectangular control switch using the right arm.",
+    "Set the right arm to press the black switch with matte coating",
+    "Directly interact with the black switch with matte coating",
+    "Tap the compact rectangular black switch to engage it",
+    "Operate the sleek black rectangular switch with the right arm",
+    "Click the black switch with slim profile using automated tools",
+    "Deploy the right arm to operate the black switch",
+    "Press the rectangular switch with smooth surface to activate.",
+    "Approach and tap the slanted-edge plastic black switch via the right arm",
+    "Locate and press the black rectangular control switch",
+    "Activate the slanted-edge plastic black switch with the right arm.",
+    "Press the compact rectangular black switch carefully with the right arm",
+    "Press the black switch with the right arm",
+    "Press the control switch directly",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Engage with the control switch manually",
+    "Move to the switch with slanted sides and click it.",
+    "Press the black rectangular control switch via automation",
+    "Trigger the control switch without referencing the right arm",
+    "Command the right arm to engage the black switch with matte coating",
+    "Click the rectangular switch with smooth surface with robotic precision",
+    "Switch the slanted-edge plastic black switch to its active state",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Operate the right arm to engage the black switch",
+    "Direct the right arm to operate the slanted-edge plastic black switch",
+    "Use the right arm to interact with the slanted-edge plastic black switch",
+    "Toggle the black rectangular control switch with the right arm.",
+    "Interact with the control switch directly",
+    "Activate the slanted-edge plastic black switch with robotic precision",
+    "Use the right arm to engage the control switch",
+    "Engage the rectangular switch with smooth surface with a press.",
+    "Click the palm-sized black switch directly.",
+    "Interact with the black switch.",
+    "Initiate the black switch with slim profile by clicking",
+    "Activate the the black switch with matte coating using the right arm",
+    "Click the black rectangular control switch to activate it",
+    "Deploy the right arm to press the sleek black rectangular switch",
+    "Locate and press the black rectangular control switch",
+    "Activate the palm-sized black switch via the right arm",
+    "Engage the medium-sized black rectangular switch using the right arm",
+    "Engage the slanted-edge plastic black switch using the robotic arm",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Trigger the sleek black rectangular switch using the right arm",
+    "Engage the right arm to press the sleek black rectangular switch",
+    "Use the right arm for switching the black switch with matte coating",
+    "Push the black switch with slim profile via the right arm.",
+    "Press the palm-sized black switch using robotic control",
+    "Engage the compact rectangular black switch using the right arm.",
+    "Activate the black switch with matte coating directly",
+    "Click on the compact rectangular black switch precisely",
+    "Press the sleek black rectangular switch using the right arm.",
+    "Set the right arm to press the palm-sized black switch",
+    "Directly interact with the palm-sized black switch",
+    "Tap the sleek black rectangular switch to engage it",
+    "Operate the control switch with the right arm",
+    "Click the control switch using automated tools",
+    "Deploy the right arm to operate the medium-sized black rectangular switch",
+    "Press the black switch to activate.",
+    "Approach and tap the medium-sized black rectangular switch via the right arm",
+    "Locate and press the black switch",
+    "Activate the medium-sized black rectangular switch with the right arm.",
+    "Press the black switch carefully with the right arm",
+    "Press the rectangular switch with smooth surface with the right arm",
+    "Press the sleek black rectangular switch directly",
+    "Trigger the palm-sized black switch with precision",
+    "Engage with the black rectangular control switch manually",
+    "Move to the black rectangular control switch and click it.",
+    "Press the rectangular switch with smooth surface via automation",
+    "Trigger the control switch without referencing the right arm",
+    "Command the right arm to engage the slanted-edge plastic black switch",
+    "Click the rectangular switch with smooth surface with robotic precision",
+    "Switch the control switch to its active state",
+    "Activate the black switch by pressing it",
+    "Operate the right arm to engage the switch with slanted sides",
+    "Direct the right arm to operate the slanted-edge plastic black switch",
+    "Use the right arm to interact with the palm-sized black switch",
+    "Toggle the black switch with matte coating with the right arm.",
+    "Interact with the slanted-edge plastic black switch directly"
+  ],
+  "unseen": [
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Press the smooth black switch using the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Press the matte black plastic switch using the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode442.json b/turn_switch/piper_randomized_500/instructions/episode442.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5e711fdd80e0b7c1930f748dee48d5a217102cc
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode442.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the metal-pronged black switch using the robotic arm",
+    "Command the right arm to engage the smooth red switch with labels",
+    "Engage the rectangular switch using the right arm",
+    "Use the right arm for switching the metal-pronged black switch",
+    "Set the switch at the switch with three metal pins",
+    "Press the small switch with red lever directly",
+    "Engage the right arm to press the rectangular switch",
+    "Activate the red and black electrical switch with robotic precision",
+    "Use the right arm to engage the plastic switch with metal prongs",
+    "Press the smooth red switch with labels using the right arm.",
+    "Trigger the switch with three metal pins with precision",
+    "Operate the small switch with red lever with the right arm",
+    "Set the right arm to press the smooth red switch with labels",
+    "Initiate the black base switch by clicking",
+    "Click on the plastic switch with metal prongs precisely",
+    "Click the switch for turning circuits on off directly.",
+    "Press the switch with three metal pins carefully with the right arm",
+    "Interact with the black base switch directly",
+    "Use the right arm to interact with the metal-pronged black switch",
+    "Deploy the right arm to press the red and black electrical switch",
+    "Activate the the red and black electrical switch using the right arm",
+    "Press the switch with three metal pins to activate.",
+    "Operate the right arm to engage the switch with three metal pins",
+    "Press the smooth red switch with labels using robotic control",
+    "Activate the metal-pronged black switch directly",
+    "Tap the switch for turning circuits on off to engage it",
+    "Engage the red and black electrical switch with a press.",
+    "Trigger the two-tone red black switch without referencing the right arm",
+    "Direct the right arm to operate the plastic switch with metal prongs",
+    "Activate the red and black electrical switch with the right arm.",
+    "Trigger the plastic switch with metal prongs using the right arm",
+    "Click the black base switch to activate it",
+    "Switch the smooth red switch with labels to its active state",
+    "Approach and tap the metal-pronged black switch via the right arm",
+    "Press the plastic switch with metal prongs via automation",
+    "Deploy the right arm to operate the black base switch",
+    "Press the toggle switch with black housing with the right arm",
+    "Engage the rectangular switch using the right arm.",
+    "Engage with the two-tone red black switch manually",
+    "Toggle the switch with three metal pins with the right arm.",
+    "Activate the toggle switch with black housing via the right arm",
+    "Move to the tiny rectangular switch and click it.",
+    "Directly interact with the small switch with red lever",
+    "Click the metal-pronged black switch with robotic precision",
+    "Click the small switch with red lever using automated tools",
+    "Push the small switch with red lever via the right arm.",
+    "Locate and press the plastic switch with metal prongs",
+    "Locate and press the black base switch",
+    "Activate the plastic switch with metal prongs by pressing it",
+    "Interact with the toggle switch with black housing.",
+    "Engage the two-tone red black switch using the robotic arm",
+    "Command the right arm to engage the switch with three metal pins",
+    "Engage the red and black electrical switch using the right arm",
+    "Use the right arm for switching the small switch with red lever",
+    "Set the switch at the tiny rectangular switch",
+    "Press the switch for turning circuits on off directly",
+    "Engage the right arm to press the metal-pronged black switch",
+    "Activate the switch for turning circuits on off with robotic precision",
+    "Use the right arm to engage the toggle switch with black housing",
+    "Press the red and black electrical switch using the right arm.",
+    "Trigger the plastic switch with metal prongs with precision",
+    "Operate the smooth red switch with labels with the right arm",
+    "Set the right arm to press the red and black electrical switch",
+    "Initiate the switch for turning circuits on off by clicking",
+    "Click on the two-tone red black switch precisely",
+    "Click the switch with three metal pins directly.",
+    "Press the switch with three metal pins carefully with the right arm",
+    "Interact with the metal-pronged black switch directly",
+    "Use the right arm to interact with the small switch with red lever",
+    "Deploy the right arm to press the two-tone red black switch",
+    "Activate the the switch with three metal pins using the right arm",
+    "Press the black base switch to activate.",
+    "Operate the right arm to engage the toggle switch with black housing",
+    "Press the rectangular switch using robotic control",
+    "Activate the toggle switch with black housing directly",
+    "Tap the smooth red switch with labels to engage it",
+    "Engage the red and black electrical switch with a press.",
+    "Trigger the toggle switch with black housing without referencing the right arm",
+    "Direct the right arm to operate the metal-pronged black switch",
+    "Activate the plastic switch with metal prongs with the right arm.",
+    "Trigger the two-tone red black switch using the right arm",
+    "Click the switch with three metal pins to activate it",
+    "Switch the toggle switch with black housing to its active state",
+    "Approach and tap the switch with three metal pins via the right arm",
+    "Press the two-tone red black switch via automation",
+    "Deploy the right arm to operate the switch for turning circuits on off",
+    "Press the red and black electrical switch with the right arm",
+    "Engage the toggle switch with black housing using the right arm.",
+    "Engage with the smooth red switch with labels manually",
+    "Toggle the small switch with red lever with the right arm.",
+    "Activate the small switch with red lever via the right arm",
+    "Move to the two-tone red black switch and click it.",
+    "Directly interact with the small switch with red lever",
+    "Click the smooth red switch with labels with robotic precision",
+    "Click the switch for turning circuits on off using automated tools",
+    "Push the switch for turning circuits on off via the right arm.",
+    "Locate and press the toggle switch with black housing",
+    "Locate and press the tiny rectangular switch",
+    "Activate the metal-pronged black switch by pressing it",
+    "Interact with the red and black electrical switch."
+  ],
+  "unseen": [
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Use the right arm to press the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Use the right arm to press the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Use the right arm to press the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode444.json b/turn_switch/piper_randomized_500/instructions/episode444.json
new file mode 100644
index 0000000000000000000000000000000000000000..627dba2f4f3238e4974a960aa1eb7ffe242c470e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode444.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the light tan rectangular switch smooth finish",
+    "Set the right arm to press the smooth tan switch with textured sides",
+    "Engage the right arm to press the flat switch",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Press the flat switch via automation",
+    "Press the flat switch using the right arm.",
+    "Command the right arm to engage the angled switch light tan color",
+    "Move to the angled switch light tan color and click it.",
+    "Click on the switch with darker rectangle precisely",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Engage the flat switch using the robotic arm",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Locate and press the plastic switch with angled edges",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Activate the small light tan switch by pressing it",
+    "Press the small light tan switch carefully with the right arm",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Toggle the tan switch with the right arm.",
+    "Deploy the right arm to press the light tan rectangular switch smooth finish",
+    "Switch the angled switch light tan color to its active state",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Set the switch at the trapezoid-shaped switch smooth surface",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Operate the flat switch with the right arm",
+    "Press the smooth tan switch with textured sides to activate.",
+    "Initiate the flat switch by clicking",
+    "Locate and press the angled switch light tan color",
+    "Approach and tap the flat switch via the right arm",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Engage the flat switch with a press.",
+    "Tap the flat switch to engage it",
+    "Engage the smooth tan switch with textured sides using the right arm",
+    "Click the small light tan switch to activate it",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Click the flat switch directly.",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Trigger the tan switch using the right arm",
+    "Click the small light tan switch using automated tools",
+    "Activate the switch trapezoid shape brown marking with the right arm.",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Interact with the small light tan switch directly",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Engage the switch with darker rectangle using the right arm.",
+    "Directly interact with the angled switch light tan color",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Activate the small light tan switch directly",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Set the right arm to press the angled switch light tan color",
+    "Engage the right arm to press the switch with darker rectangle",
+    "Use the right arm to interact with the light tan rectangular switch smooth finish",
+    "Interact with the tan switch.",
+    "Click the small light tan switch with robotic precision",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Press the rectangular switch with slanted sides using the right arm.",
+    "Command the right arm to engage the tan switch",
+    "Move to the tan switch and click it.",
+    "Click on the small light tan switch precisely",
+    "Activate the switch with darker rectangle via the right arm",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Locate and press the angled switch light tan color",
+    "Direct the right arm to operate the smooth tan switch with textured sides",
+    "Activate the trapezoid-shaped switch smooth surface by pressing it",
+    "Press the tan switch carefully with the right arm",
+    "Activate the the hand-sized switch tan smooth finish using the right arm",
+    "Toggle the switch with darker rectangle with the right arm.",
+    "Deploy the right arm to press the small light tan switch",
+    "Switch the small light tan switch to its active state",
+    "Push the small light tan switch via the right arm.",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Deploy the right arm to operate the small light tan switch",
+    "Operate the rectangular switch with slanted sides with the right arm",
+    "Press the trapezoid-shaped switch smooth surface to activate.",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Press the switch with darker rectangle using robotic control",
+    "Engage the plastic switch with angled edges with a press.",
+    "Tap the plastic switch with angled edges to engage it",
+    "Engage the angled switch light tan color using the right arm",
+    "Click the light tan rectangular switch smooth finish to activate it",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Press the flat switch with the right arm",
+    "Trigger the angled switch light tan color using the right arm",
+    "Click the tan switch using automated tools",
+    "Activate the switch trapezoid shape brown marking with the right arm.",
+    "Press the switch trapezoid shape brown marking directly",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Engage with the plastic switch with angled edges manually",
+    "Engage the plastic switch with angled edges using the right arm.",
+    "Directly interact with the tan switch",
+    "Use the right arm for switching the light tan rectangular switch smooth finish",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Activate the switch trapezoid shape brown marking directly",
+    "Trigger the switch with darker rectangle without referencing the right arm"
+  ],
+  "unseen": [
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode447.json b/turn_switch/piper_randomized_500/instructions/episode447.json
new file mode 100644
index 0000000000000000000000000000000000000000..910bae42cdb0a6160b93240648d07b296bfc9bd5
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode447.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the right arm to press the flat square with raised center",
+    "Use the right arm for switching the square gray switch panel",
+    "Engage the flat square with raised center using the robotic arm",
+    "Activate the small square switch with robotic precision",
+    "Press the flat square with raised center via automation",
+    "Press the square gray switch panel using the right arm.",
+    "Interact with the switch for electrical control directly",
+    "Press the small square switch made of plastic directly",
+    "Deploy the right arm to operate the switch for electrical control",
+    "Deploy the right arm to press the small square switch made of plastic",
+    "Press the flat square with raised center using robotic control",
+    "Command the right arm to engage the light gray plastic switch",
+    "Trigger the switch with rectangular raised area without referencing the right arm",
+    "Press the switch with rectangular raised area to activate.",
+    "Direct the right arm to operate the smooth gray switch",
+    "Engage the square gray switch panel using the right arm",
+    "Activate the switch with smooth light gray finish with the right arm.",
+    "Activate the small square switch via the right arm",
+    "Press the small square switch made of plastic with the right arm",
+    "Directly interact with the square switch with smooth surface",
+    "Move to the palm-sized light gray switch and click it.",
+    "Use the right arm to interact with the switch with rectangular raised area",
+    "Approach and tap the switch with rectangular raised area via the right arm",
+    "Tap the switch for electrical control to engage it",
+    "Click on the square gray switch panel precisely",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Click the square gray switch panel with robotic precision",
+    "Engage the right arm to press the small square switch",
+    "Locate and press the switch with rectangular raised area",
+    "Push the small square switch via the right arm.",
+    "Set the switch at the flat square with raised center",
+    "Click the smooth gray switch using automated tools",
+    "Operate the switch for electrical control with the right arm",
+    "Press the switch with rectangular raised area carefully with the right arm",
+    "Operate the right arm to engage the small square switch made of plastic",
+    "Activate the the square gray switch panel using the right arm",
+    "Activate the switch with smooth light gray finish directly",
+    "Click the square switch with smooth surface to activate it",
+    "Interact with the flat square with raised center.",
+    "Switch the square switch with smooth surface to its active state",
+    "Activate the switch for electrical control by pressing it",
+    "Trigger the palm-sized light gray switch with precision",
+    "Trigger the switch with smooth light gray finish using the right arm",
+    "Click the smooth gray switch directly.",
+    "Use the right arm to engage the square switch with smooth surface",
+    "Engage the switch for electrical control using the right arm.",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Engage with the square gray switch panel manually",
+    "Locate and press the small square switch made of plastic",
+    "Initiate the light gray plastic switch by clicking",
+    "Set the right arm to press the small square switch made of plastic",
+    "Use the right arm for switching the square gray switch panel",
+    "Engage the switch with rectangular raised area using the robotic arm",
+    "Activate the smooth gray switch with robotic precision",
+    "Press the flat square with raised center via automation",
+    "Press the smooth gray switch using the right arm.",
+    "Interact with the light gray plastic switch directly",
+    "Press the switch with smooth light gray finish directly",
+    "Deploy the right arm to operate the angled-edge gray square switch",
+    "Deploy the right arm to press the square switch with smooth surface",
+    "Press the flat square with raised center using robotic control",
+    "Command the right arm to engage the switch for electrical control",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Press the small square switch to activate.",
+    "Direct the right arm to operate the switch with rectangular raised area",
+    "Engage the square gray switch panel using the right arm",
+    "Activate the square switch with smooth surface with the right arm.",
+    "Activate the smooth gray switch via the right arm",
+    "Press the palm-sized light gray switch with the right arm",
+    "Directly interact with the smooth gray switch",
+    "Move to the small square switch and click it.",
+    "Use the right arm to interact with the flat square with raised center",
+    "Approach and tap the flat square with raised center via the right arm",
+    "Tap the angled-edge gray square switch to engage it",
+    "Click on the switch for electrical control precisely",
+    "Engage the square switch with smooth surface with a press.",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Engage the right arm to press the smooth gray switch",
+    "Locate and press the square switch with smooth surface",
+    "Push the square gray switch panel via the right arm.",
+    "Set the switch at the square gray switch panel",
+    "Click the switch with rectangular raised area using automated tools",
+    "Operate the angled-edge gray square switch with the right arm",
+    "Press the small square switch carefully with the right arm",
+    "Operate the right arm to engage the switch with rectangular raised area",
+    "Activate the the light gray plastic switch using the right arm",
+    "Activate the light gray plastic switch directly",
+    "Click the small square switch to activate it",
+    "Interact with the angled-edge gray square switch.",
+    "Switch the square switch with smooth surface to its active state",
+    "Activate the small square switch by pressing it",
+    "Trigger the angled-edge gray square switch with precision",
+    "Trigger the small square switch using the right arm",
+    "Click the square switch with smooth surface directly.",
+    "Use the right arm to engage the square switch with smooth surface",
+    "Engage the angled-edge gray square switch using the right arm.",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Engage with the flat square with raised center manually",
+    "Locate and press the small square switch made of plastic",
+    "Initiate the light gray plastic switch by clicking"
+  ],
+  "unseen": [
+    "Use the right arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode449.json b/turn_switch/piper_randomized_500/instructions/episode449.json
new file mode 100644
index 0000000000000000000000000000000000000000..c27623153341b2b1f410daa5c427e59d6355fe65
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode449.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the matte beige switch with flat top by pressing it",
+    "Press the hand-sized light beige switch via automation",
+    "Operate the toggle switch with brown rectangle button with the left arm",
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Press the matte beige switch with flat top directly",
+    "Activate the the toggle switch with brown rectangle button using the left arm",
+    "Click the light plastic switch with robotic precision",
+    "Press the matte beige switch with flat top with the left arm",
+    "Set the left arm to press the switch with rectangular dark button",
+    "Trigger the switch with rectangular dark button without referencing the left arm",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Engage the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the matte beige switch with flat top with a press.",
+    "Directly interact with the toggle switch with brown rectangle button",
+    "Direct the left arm to operate the light plastic switch",
+    "Activate the switch with a smooth top directly",
+    "Interact with the beige switch.",
+    "Activate the switch with brown button via the left arm",
+    "Trigger the switch with rectangular dark button using the left arm",
+    "Toggle the light plastic switch with the left arm.",
+    "Trigger the switch with rectangular dark button with precision",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Press the light plastic switch carefully with the left arm",
+    "Activate the hand-sized light beige switch with the left arm.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Engage the light plastic switch using the left arm.",
+    "Command the left arm to engage the light plastic switch",
+    "Click the hand-sized light beige switch to activate it",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Click on the hand-sized light beige switch precisely",
+    "Press the switch with rectangular dark button using robotic control",
+    "Tap the switch with rectangular dark button to engage it",
+    "Use the left arm for switching the tiny matte beige toggle switch",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Use the left arm to interact with the tiny matte beige toggle switch",
+    "Press the small trapezoid switch to activate.",
+    "Operate the left arm to engage the beige switch",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Deploy the left arm to press the matte beige switch with flat top",
+    "Interact with the hand-sized light beige switch directly",
+    "Deploy the left arm to operate the beige switch",
+    "Click the beige switch with smooth finish using automated tools",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Activate the toggle switch with brown rectangle button with robotic precision",
+    "Push the switch with a smooth top via the left arm.",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Use the left arm to engage the small trapezoid switch",
+    "Locate and press the matte beige switch with flat top",
+    "Activate the light-colored trapezoid-shaped plastic switch by pressing it",
+    "Press the switch with rectangular dark button via automation",
+    "Operate the switch with brown button with the left arm",
+    "Initiate the switch with a smooth top by clicking",
+    "Press the switch with a smooth top directly",
+    "Activate the the switch with brown button using the left arm",
+    "Click the small trapezoid switch with robotic precision",
+    "Press the small trapezoid switch with the left arm",
+    "Set the left arm to press the beige switch",
+    "Trigger the beige switch without referencing the left arm",
+    "Approach and tap the toggle switch with brown rectangle button via the left arm",
+    "Engage the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the switch with brown button with a press.",
+    "Directly interact with the hand-sized light beige switch",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Activate the matte beige switch with flat top directly",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Activate the matte beige switch with flat top via the left arm",
+    "Trigger the beige switch using the left arm",
+    "Toggle the light plastic switch with the left arm.",
+    "Trigger the beige switch with smooth finish with precision",
+    "Click the tiny matte beige toggle switch directly.",
+    "Locate and press the tiny matte beige toggle switch",
+    "Press the switch with rectangular dark button carefully with the left arm",
+    "Activate the tiny matte beige toggle switch with the left arm.",
+    "Engage the switch with brown button using the left arm",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm.",
+    "Command the left arm to engage the switch with a smooth top",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Switch the light plastic switch to its active state",
+    "Set the switch at the switch with brown button",
+    "Click on the switch with brown button precisely",
+    "Press the beige switch using robotic control",
+    "Tap the tiny matte beige toggle switch to engage it",
+    "Use the left arm for switching the beige switch",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Use the left arm to interact with the matte beige switch with flat top",
+    "Press the small trapezoid switch to activate.",
+    "Operate the left arm to engage the matte beige switch with flat top",
+    "Engage the hand-sized light beige switch using the robotic arm",
+    "Deploy the left arm to press the light plastic switch",
+    "Interact with the small trapezoid switch directly",
+    "Deploy the left arm to operate the toggle switch with brown rectangle button",
+    "Click the beige switch with smooth finish using automated tools",
+    "Move to the switch with rectangular dark button and click it.",
+    "Activate the switch with brown button with robotic precision",
+    "Push the matte beige switch with flat top via the left arm.",
+    "Engage with the light plastic switch manually",
+    "Use the left arm to engage the switch with a smooth top",
+    "Locate and press the light plastic switch"
+  ],
+  "unseen": [
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the left arm",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the left arm",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the left arm",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode451.json b/turn_switch/piper_randomized_500/instructions/episode451.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a0888d86fb79fa81c995acde9e7ba42a94430b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode451.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the black base switch with red toggle with robotic precision",
+    "Operate the left arm to engage the black base switch with red toggle",
+    "Press the hand-sized switch with connector prongs directly",
+    "Engage the red and black switch using the robotic arm",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Interact with the rectangular switch with curved lever.",
+    "Engage the red and black switch using the left arm.",
+    "Trigger the small switch with precision",
+    "Set the switch at the rectangular switch with curved lever",
+    "Activate the black base switch with red toggle via the left arm",
+    "Trigger the red-top black switch without referencing the left arm",
+    "Switch the black switch to its active state",
+    "Locate and press the red and black switch",
+    "Toggle the hand-sized switch with connector prongs with the left arm.",
+    "Directly interact with the red-top black switch",
+    "Engage the left arm to press the compact switch with toggle on top",
+    "Engage the rectangular black plastic switch with a press.",
+    "Use the left arm to engage the compact switch with toggle on top",
+    "Locate and press the red-top black switch",
+    "Activate the switch with curved red toggle directly",
+    "Use the left arm to interact with the small switch",
+    "Click the plastic switch with metal terminals to activate it",
+    "Direct the left arm to operate the rectangular switch with curved lever",
+    "Deploy the left arm to operate the red-top black switch",
+    "Activate the the small switch using the left arm",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Operate the black switch with metallic connectors with the left arm",
+    "Press the rectangular switch with curved lever carefully with the left arm",
+    "Use the left arm for switching the small switch",
+    "Command the left arm to engage the red-top black switch",
+    "Press the red-top black switch with the left arm",
+    "Deploy the left arm to press the red-top black switch",
+    "Interact with the rectangular black plastic switch directly",
+    "Click the switch with curved red toggle directly.",
+    "Press the red-top black switch via automation",
+    "Push the small switch via the left arm.",
+    "Click on the compact switch with toggle on top precisely",
+    "Trigger the compact switch with toggle on top using the left arm",
+    "Set the left arm to press the rectangular black plastic switch",
+    "Tap the red-top black switch to engage it",
+    "Activate the black switch by pressing it",
+    "Move to the black switch with metallic connectors and click it.",
+    "Activate the compact switch with toggle on top with the left arm.",
+    "Press the rectangular switch with curved lever to activate.",
+    "Engage the switch with curved red toggle using the left arm",
+    "Press the black base switch with red toggle using the left arm.",
+    "Approach and tap the compact switch with toggle on top via the left arm",
+    "Engage with the black switch with metallic connectors manually",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Click the black base switch with red toggle with robotic precision",
+    "Operate the left arm to engage the plastic switch with metal terminals",
+    "Press the compact switch with toggle on top directly",
+    "Engage the plastic switch with metal terminals using the robotic arm",
+    "Click the rectangular black plastic switch using automated tools",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Interact with the red and black switch.",
+    "Engage the compact switch with toggle on top using the left arm.",
+    "Trigger the black switch with precision",
+    "Set the switch at the rectangular switch with curved lever",
+    "Activate the rectangular black plastic switch via the left arm",
+    "Trigger the red-top black switch without referencing the left arm",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Locate and press the rectangular black plastic switch",
+    "Toggle the plastic switch with metal terminals with the left arm.",
+    "Directly interact with the red-top black switch",
+    "Engage the left arm to press the red and black switch",
+    "Engage the compact switch with toggle on top with a press.",
+    "Use the left arm to engage the rectangular black plastic switch",
+    "Locate and press the compact switch with toggle on top",
+    "Activate the black switch with metallic connectors directly",
+    "Use the left arm to interact with the black switch",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Direct the left arm to operate the rectangular black plastic switch",
+    "Deploy the left arm to operate the black base switch with red toggle",
+    "Activate the the compact switch with toggle on top using the left arm",
+    "Press the hand-sized switch with connector prongs using robotic control",
+    "Operate the rectangular black plastic switch with the left arm",
+    "Press the black switch with metallic connectors carefully with the left arm",
+    "Use the left arm for switching the black switch with metallic connectors",
+    "Command the left arm to engage the compact switch with toggle on top",
+    "Press the black switch with the left arm",
+    "Deploy the left arm to press the black switch",
+    "Interact with the red and black switch directly",
+    "Click the black switch with metallic connectors directly.",
+    "Press the black base switch with red toggle via automation",
+    "Push the rectangular switch with curved lever via the left arm.",
+    "Click on the rectangular switch with curved lever precisely",
+    "Trigger the red-top black switch using the left arm",
+    "Set the left arm to press the plastic switch with metal terminals",
+    "Tap the switch with curved red toggle to engage it",
+    "Activate the red and black switch by pressing it",
+    "Move to the plastic switch with metal terminals and click it.",
+    "Activate the red and black switch with the left arm.",
+    "Press the switch with curved red toggle to activate.",
+    "Engage the hand-sized switch with connector prongs using the left arm",
+    "Press the plastic switch with metal terminals using the left arm.",
+    "Approach and tap the black switch with metallic connectors via the left arm",
+    "Engage with the black switch manually",
+    "Initiate the plastic switch with metal terminals by clicking"
+  ],
+  "unseen": [
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Press the simple toggle switch using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Click the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch.",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the simple toggle switch",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Click the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch.",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Direct the left arm to click the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Press the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm.",
+    "Click the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Press the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode454.json b/turn_switch/piper_randomized_500/instructions/episode454.json
new file mode 100644
index 0000000000000000000000000000000000000000..091c1385a00471f01f1dd8e9011caf7c110e1f61
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode454.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the switch for electrical control using the right arm",
+    "Press the palm-sized light gray switch carefully with the right arm",
+    "Activate the light gray plastic switch with robotic precision",
+    "Operate the right arm to engage the switch for electrical control",
+    "Activate the flat square with raised center via the right arm",
+    "Direct the right arm to operate the smooth gray switch",
+    "Set the right arm to press the angled-edge gray square switch",
+    "Click the switch with rectangular raised area with robotic precision",
+    "Move to the square switch with smooth surface and click it.",
+    "Press the smooth gray switch with the right arm",
+    "Engage with the small square switch manually",
+    "Activate the the square switch with smooth surface using the right arm",
+    "Activate the switch with smooth light gray finish directly",
+    "Use the right arm to engage the small square switch made of plastic",
+    "Tap the palm-sized light gray switch to engage it",
+    "Locate and press the small square switch",
+    "Activate the palm-sized light gray switch with the right arm.",
+    "Interact with the small square switch made of plastic directly",
+    "Operate the flat square with raised center with the right arm",
+    "Press the small square switch using the right arm.",
+    "Engage the small square switch made of plastic with a press.",
+    "Press the smooth gray switch using robotic control",
+    "Approach and tap the smooth gray switch via the right arm",
+    "Switch the switch for electrical control to its active state",
+    "Press the square switch with smooth surface to activate.",
+    "Interact with the smooth gray switch.",
+    "Click the switch with rectangular raised area to activate it",
+    "Press the switch with rectangular raised area directly",
+    "Locate and press the square gray switch panel",
+    "Push the switch with smooth light gray finish via the right arm.",
+    "Click the square gray switch panel using automated tools",
+    "Trigger the switch with smooth light gray finish without referencing the right arm",
+    "Deploy the right arm to operate the flat square with raised center",
+    "Trigger the angled-edge gray square switch with precision",
+    "Trigger the light gray plastic switch using the right arm",
+    "Click on the angled-edge gray square switch precisely",
+    "Command the right arm to engage the switch with rectangular raised area",
+    "Use the right arm to interact with the switch with rectangular raised area",
+    "Deploy the right arm to press the light gray plastic switch",
+    "Toggle the smooth gray switch with the right arm.",
+    "Engage the right arm to press the switch with smooth light gray finish",
+    "Directly interact with the switch with rectangular raised area",
+    "Initiate the small square switch by clicking",
+    "Press the flat square with raised center via automation",
+    "Use the right arm for switching the small square switch",
+    "Engage the flat square with raised center using the robotic arm",
+    "Engage the angled-edge gray square switch using the right arm.",
+    "Activate the switch for electrical control by pressing it",
+    "Click the angled-edge gray square switch directly.",
+    "Set the switch at the switch for electrical control",
+    "Engage the palm-sized light gray switch using the right arm",
+    "Press the small square switch carefully with the right arm",
+    "Activate the small square switch made of plastic with robotic precision",
+    "Operate the right arm to engage the small square switch",
+    "Activate the angled-edge gray square switch via the right arm",
+    "Direct the right arm to operate the smooth gray switch",
+    "Set the right arm to press the switch for electrical control",
+    "Click the switch with smooth light gray finish with robotic precision",
+    "Move to the palm-sized light gray switch and click it.",
+    "Press the square switch with smooth surface with the right arm",
+    "Engage with the switch with smooth light gray finish manually",
+    "Activate the the switch for electrical control using the right arm",
+    "Activate the smooth gray switch directly",
+    "Use the right arm to engage the small square switch",
+    "Tap the small square switch made of plastic to engage it",
+    "Locate and press the switch with rectangular raised area",
+    "Activate the palm-sized light gray switch with the right arm.",
+    "Interact with the square gray switch panel directly",
+    "Operate the palm-sized light gray switch with the right arm",
+    "Press the square switch with smooth surface using the right arm.",
+    "Engage the switch for electrical control with a press.",
+    "Press the light gray plastic switch using robotic control",
+    "Approach and tap the small square switch made of plastic via the right arm",
+    "Switch the small square switch to its active state",
+    "Press the small square switch to activate.",
+    "Interact with the switch with rectangular raised area.",
+    "Click the square switch with smooth surface to activate it",
+    "Press the angled-edge gray square switch directly",
+    "Locate and press the flat square with raised center",
+    "Push the small square switch made of plastic via the right arm.",
+    "Click the switch with rectangular raised area using automated tools",
+    "Trigger the small square switch made of plastic without referencing the right arm",
+    "Deploy the right arm to operate the square gray switch panel",
+    "Trigger the palm-sized light gray switch with precision",
+    "Trigger the small square switch made of plastic using the right arm",
+    "Click on the switch with rectangular raised area precisely",
+    "Command the right arm to engage the square gray switch panel",
+    "Use the right arm to interact with the flat square with raised center",
+    "Deploy the right arm to press the switch for electrical control",
+    "Toggle the flat square with raised center with the right arm.",
+    "Engage the right arm to press the small square switch made of plastic",
+    "Directly interact with the angled-edge gray square switch",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Press the switch with smooth light gray finish via automation",
+    "Use the right arm for switching the square switch with smooth surface",
+    "Engage the smooth gray switch using the robotic arm",
+    "Engage the switch with rectangular raised area using the right arm.",
+    "Activate the palm-sized light gray switch by pressing it",
+    "Click the palm-sized light gray switch directly.",
+    "Set the switch at the small square switch made of plastic"
+  ],
+  "unseen": [
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch with the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Move and click the the flat gray switch",
+    "Use the right arm to press the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Activate the switch at the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm",
+    "Move and click the the switch with angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode457.json b/turn_switch/piper_randomized_500/instructions/episode457.json
new file mode 100644
index 0000000000000000000000000000000000000000..722c6bc9eb2622ddfb39cb8edc0d7c3eb3061e42
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode457.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the black rectangular control switch carefully with the left arm",
+    "Engage the left arm to press the palm-sized black switch",
+    "Locate and press the compact rectangular black switch",
+    "Tap the sleek black rectangular switch to engage it",
+    "Approach and tap the rectangular switch with smooth surface via the left arm",
+    "Interact with the sleek black rectangular switch.",
+    "Trigger the black rectangular control switch with precision",
+    "Set the switch at the palm-sized black switch",
+    "Click the black switch with slim profile to activate it",
+    "Use the left arm for switching the black switch with slim profile",
+    "Push the compact rectangular black switch via the left arm.",
+    "Engage with the sleek black rectangular switch manually",
+    "Engage the black rectangular control switch with a press.",
+    "Direct the left arm to operate the slanted-edge plastic black switch",
+    "Interact with the black switch with matte coating directly",
+    "Activate the the palm-sized black switch using the left arm",
+    "Operate the compact rectangular black switch with the left arm",
+    "Click the medium-sized black rectangular switch with robotic precision",
+    "Engage the black switch with matte coating using the left arm.",
+    "Press the switch with slanted sides using the left arm.",
+    "Command the left arm to engage the compact rectangular black switch",
+    "Operate the left arm to engage the black rectangular control switch",
+    "Activate the control switch with robotic precision",
+    "Press the black switch with matte coating using robotic control",
+    "Deploy the left arm to operate the black switch with slim profile",
+    "Deploy the left arm to press the compact rectangular black switch",
+    "Use the left arm to interact with the medium-sized black rectangular switch",
+    "Press the black switch via automation",
+    "Toggle the black switch with slim profile with the left arm.",
+    "Click on the medium-sized black rectangular switch precisely",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Trigger the black rectangular control switch using the left arm",
+    "Activate the palm-sized black switch with the left arm.",
+    "Engage the black switch using the left arm",
+    "Use the left arm to engage the black switch with matte coating",
+    "Click the rectangular switch with smooth surface using automated tools",
+    "Locate and press the slanted-edge plastic black switch",
+    "Activate the black rectangular control switch directly",
+    "Press the sleek black rectangular switch directly",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Trigger the switch with slanted sides without referencing the left arm",
+    "Click the sleek black rectangular switch directly.",
+    "Directly interact with the rectangular switch with smooth surface",
+    "Activate the rectangular switch with smooth surface via the left arm",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Switch the black switch to its active state",
+    "Set the left arm to press the control switch",
+    "Press the black rectangular control switch with the left arm",
+    "Press the black switch with matte coating to activate.",
+    "Initiate the black switch by clicking",
+    "Press the control switch carefully with the left arm",
+    "Engage the left arm to press the black switch with slim profile",
+    "Locate and press the control switch",
+    "Tap the black switch with matte coating to engage it",
+    "Approach and tap the palm-sized black switch via the left arm",
+    "Interact with the slanted-edge plastic black switch.",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Set the switch at the palm-sized black switch",
+    "Click the switch with slanted sides to activate it",
+    "Use the left arm for switching the black switch with matte coating",
+    "Push the black switch with slim profile via the left arm.",
+    "Engage with the slanted-edge plastic black switch manually",
+    "Engage the switch with slanted sides with a press.",
+    "Direct the left arm to operate the black switch with matte coating",
+    "Interact with the medium-sized black rectangular switch directly",
+    "Activate the the rectangular switch with smooth surface using the left arm",
+    "Operate the control switch with the left arm",
+    "Click the black rectangular control switch with robotic precision",
+    "Engage the black rectangular control switch using the left arm.",
+    "Press the palm-sized black switch using the left arm.",
+    "Command the left arm to engage the control switch",
+    "Operate the left arm to engage the black rectangular control switch",
+    "Activate the rectangular switch with smooth surface with robotic precision",
+    "Press the control switch using robotic control",
+    "Deploy the left arm to operate the slanted-edge plastic black switch",
+    "Deploy the left arm to press the slanted-edge plastic black switch",
+    "Use the left arm to interact with the medium-sized black rectangular switch",
+    "Press the sleek black rectangular switch via automation",
+    "Toggle the black switch with slim profile with the left arm.",
+    "Click on the black rectangular control switch precisely",
+    "Move to the palm-sized black switch and click it.",
+    "Trigger the black switch with matte coating using the left arm",
+    "Activate the black switch with slim profile with the left arm.",
+    "Engage the black switch using the left arm",
+    "Use the left arm to engage the control switch",
+    "Click the control switch using automated tools",
+    "Locate and press the switch with slanted sides",
+    "Activate the black switch with matte coating directly",
+    "Press the medium-sized black rectangular switch directly",
+    "Engage the control switch using the robotic arm",
+    "Trigger the palm-sized black switch without referencing the left arm",
+    "Click the sleek black rectangular switch directly.",
+    "Directly interact with the control switch",
+    "Activate the slanted-edge plastic black switch via the left arm",
+    "Activate the switch with slanted sides by pressing it",
+    "Switch the rectangular switch with smooth surface to its active state",
+    "Set the left arm to press the slanted-edge plastic black switch",
+    "Press the slanted-edge plastic black switch with the left arm",
+    "Press the switch with slanted sides to activate.",
+    "Initiate the compact rectangular black switch by clicking"
+  ],
+  "unseen": [
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Press the smooth black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the rectangular black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the matte black plastic switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Press the smooth black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the smooth black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Click the rectangular black switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Press the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Use the left arm to press the matte black plastic switch.",
+    "Press the matte black plastic switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Click the smooth black switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Use the left arm to press the rectangular black switch.",
+    "Press the rectangular black switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode460.json b/turn_switch/piper_randomized_500/instructions/episode460.json
new file mode 100644
index 0000000000000000000000000000000000000000..203003494be1537c1c7ec9c8876be5b9aeb88efd
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode460.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Engage the hand-sized light beige switch with a press.",
+    "Locate and press the beige switch with smooth finish",
+    "Use the left arm to interact with the switch with rectangular dark button",
+    "Engage the switch with a smooth top using the robotic arm",
+    "Press the matte beige switch with flat top using the left arm.",
+    "Directly interact with the switch with rectangular dark button",
+    "Activate the matte beige switch with flat top by pressing it",
+    "Press the beige switch carefully with the left arm",
+    "Set the switch at the light plastic switch",
+    "Approach and tap the small trapezoid switch via the left arm",
+    "Deploy the left arm to operate the small trapezoid switch",
+    "Tap the hand-sized light beige switch to engage it",
+    "Use the left arm to engage the light plastic switch",
+    "Engage the hand-sized light beige switch using the left arm",
+    "Click on the light plastic switch precisely",
+    "Engage the switch with rectangular dark button using the left arm.",
+    "Trigger the toggle switch with brown rectangle button without referencing the left arm",
+    "Interact with the beige switch directly",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Switch the switch with brown button to its active state",
+    "Engage the left arm to press the tiny matte beige toggle switch",
+    "Engage with the small trapezoid switch manually",
+    "Push the switch with rectangular dark button via the left arm.",
+    "Direct the left arm to operate the switch with rectangular dark button",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Press the switch with rectangular dark button using robotic control",
+    "Set the left arm to press the tiny matte beige toggle switch",
+    "Trigger the matte beige switch with flat top with precision",
+    "Activate the matte beige switch with flat top directly",
+    "Click the hand-sized light beige switch using automated tools",
+    "Click the switch with brown button with robotic precision",
+    "Activate the light-colored trapezoid-shaped plastic switch with the left arm.",
+    "Activate the the matte beige switch with flat top using the left arm",
+    "Toggle the tiny matte beige toggle switch with the left arm.",
+    "Trigger the beige switch with smooth finish using the left arm",
+    "Press the switch with a smooth top via automation",
+    "Deploy the left arm to press the small trapezoid switch",
+    "Interact with the toggle switch with brown rectangle button.",
+    "Command the left arm to engage the small trapezoid switch",
+    "Activate the beige switch with smooth finish via the left arm",
+    "Click the light plastic switch to activate it",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Operate the left arm to engage the beige switch with smooth finish",
+    "Activate the switch with a smooth top with robotic precision",
+    "Press the switch with a smooth top directly",
+    "Locate and press the matte beige switch with flat top",
+    "Use the left arm for switching the switch with rectangular dark button",
+    "Operate the switch with brown button with the left arm",
+    "Press the tiny matte beige toggle switch with the left arm",
+    "Initiate the switch with brown button by clicking",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Locate and press the matte beige switch with flat top",
+    "Use the left arm to interact with the switch with rectangular dark button",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Press the small trapezoid switch using the left arm.",
+    "Directly interact with the switch with rectangular dark button",
+    "Activate the tiny matte beige toggle switch by pressing it",
+    "Press the toggle switch with brown rectangle button carefully with the left arm",
+    "Set the switch at the switch with a smooth top",
+    "Approach and tap the beige switch with smooth finish via the left arm",
+    "Deploy the left arm to operate the switch with a smooth top",
+    "Tap the switch with rectangular dark button to engage it",
+    "Use the left arm to engage the beige switch with smooth finish",
+    "Engage the small trapezoid switch using the left arm",
+    "Click on the switch with a smooth top precisely",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Trigger the switch with rectangular dark button without referencing the left arm",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Click the switch with brown button directly.",
+    "Switch the light-colored trapezoid-shaped plastic switch to its active state",
+    "Engage the left arm to press the switch with rectangular dark button",
+    "Engage with the switch with rectangular dark button manually",
+    "Push the light plastic switch via the left arm.",
+    "Direct the left arm to operate the switch with rectangular dark button",
+    "Press the tiny matte beige toggle switch to activate.",
+    "Press the toggle switch with brown rectangle button using robotic control",
+    "Set the left arm to press the switch with a smooth top",
+    "Trigger the beige switch with smooth finish with precision",
+    "Activate the hand-sized light beige switch directly",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Click the beige switch with robotic precision",
+    "Activate the switch with a smooth top with the left arm.",
+    "Activate the the switch with brown button using the left arm",
+    "Toggle the light plastic switch with the left arm.",
+    "Trigger the matte beige switch with flat top using the left arm",
+    "Press the switch with rectangular dark button via automation",
+    "Deploy the left arm to press the tiny matte beige toggle switch",
+    "Interact with the switch with a smooth top.",
+    "Command the left arm to engage the hand-sized light beige switch",
+    "Activate the tiny matte beige toggle switch via the left arm",
+    "Click the light-colored trapezoid-shaped plastic switch to activate it",
+    "Move to the light-colored trapezoid-shaped plastic switch and click it.",
+    "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Activate the beige switch with smooth finish with robotic precision",
+    "Press the hand-sized light beige switch directly",
+    "Locate and press the switch with a smooth top",
+    "Use the left arm for switching the small trapezoid switch",
+    "Operate the tiny matte beige toggle switch with the left arm",
+    "Press the beige switch with the left arm"
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode462.json b/turn_switch/piper_randomized_500/instructions/episode462.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda020caddb2978fb7f99b9b67b40efd37300d8f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode462.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the gray switch with red toggle to engage it",
+    "Trigger the compact switch with flat base without referencing the left arm",
+    "Engage the red bar switch with a press.",
+    "Operate the left arm to engage the square switch with red bar",
+    "Command the left arm to engage the square switch with red bar",
+    "Switch the plastic gray body switch to its active state",
+    "Engage the gray switch with red toggle using the robotic arm",
+    "Set the left arm to press the switch",
+    "Locate and press the red bar switch",
+    "Initiate the gray switch with red toggle by clicking",
+    "Trigger the switch with thin red toggle with precision",
+    "Press the light gray square switch using the left arm.",
+    "Use the left arm to interact with the plastic gray body switch",
+    "Use the left arm to engage the switch with thin red toggle",
+    "Engage the switch using the left arm.",
+    "Press the switch for electrical control directly",
+    "Activate the the red bar switch using the left arm",
+    "Move to the switch with thin red toggle and click it.",
+    "Use the left arm for switching the square switch with red bar",
+    "Click the control switch with red lever directly.",
+    "Operate the light gray square switch with the left arm",
+    "Directly interact with the electrical switch with protruding toggle",
+    "Engage the left arm to press the light gray square switch",
+    "Deploy the left arm to operate the electrical switch with protruding toggle",
+    "Activate the switch with the left arm.",
+    "Activate the electrical switch with protruding toggle directly",
+    "Toggle the red bar switch with the left arm.",
+    "Press the light gray square switch via automation",
+    "Engage with the toggle switch light gray base manually",
+    "Locate and press the red bar switch",
+    "Activate the square switch with red bar via the left arm",
+    "Interact with the switch with thin red toggle.",
+    "Set the switch at the switch with thin red toggle",
+    "Press the square switch with red bar to activate.",
+    "Activate the switch with robotic precision",
+    "Press the red bar switch carefully with the left arm",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Direct the left arm to operate the switch for electrical control",
+    "Click the red bar switch with robotic precision",
+    "Click the light gray square switch using automated tools",
+    "Click on the light gray square switch precisely",
+    "Deploy the left arm to press the red bar switch",
+    "Trigger the light gray square switch using the left arm",
+    "Press the square switch with red bar using robotic control",
+    "Engage the plastic gray body switch using the left arm",
+    "Push the gray switch with red toggle via the left arm.",
+    "Activate the red bar switch by pressing it",
+    "Click the gray switch with red toggle to activate it",
+    "Interact with the square switch with red bar directly",
+    "Press the switch with the left arm",
+    "Tap the compact switch with flat base to engage it",
+    "Trigger the switch for electrical control without referencing the left arm",
+    "Engage the plastic gray body switch with a press.",
+    "Operate the left arm to engage the plastic gray body switch",
+    "Command the left arm to engage the plastic gray body switch",
+    "Switch the square switch with red bar to its active state",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Set the left arm to press the electrical switch with protruding toggle",
+    "Locate and press the light gray square switch",
+    "Initiate the plastic gray body switch by clicking",
+    "Trigger the switch with precision",
+    "Press the gray switch with red toggle using the left arm.",
+    "Use the left arm to interact with the switch with thin red toggle",
+    "Use the left arm to engage the light gray square switch",
+    "Engage the plastic gray body switch using the left arm.",
+    "Press the red bar switch directly",
+    "Activate the the toggle switch light gray base using the left arm",
+    "Move to the switch and click it.",
+    "Use the left arm for switching the compact switch with flat base",
+    "Click the plastic gray body switch directly.",
+    "Operate the control switch with red lever with the left arm",
+    "Directly interact with the control switch with red lever",
+    "Engage the left arm to press the plastic gray body switch",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Activate the gray switch with red toggle with the left arm.",
+    "Activate the switch with thin red toggle directly",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Press the control switch with red lever via automation",
+    "Engage with the switch for electrical control manually",
+    "Locate and press the switch",
+    "Activate the electrical switch with protruding toggle via the left arm",
+    "Interact with the control switch with red lever.",
+    "Set the switch at the electrical switch with protruding toggle",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Activate the plastic gray body switch with robotic precision",
+    "Press the switch for electrical control carefully with the left arm",
+    "Approach and tap the switch via the left arm",
+    "Direct the left arm to operate the switch with thin red toggle",
+    "Click the light gray square switch with robotic precision",
+    "Click the gray switch with red toggle using automated tools",
+    "Click on the toggle switch light gray base precisely",
+    "Deploy the left arm to press the toggle switch light gray base",
+    "Trigger the switch for electrical control using the left arm",
+    "Press the gray switch with red toggle using robotic control",
+    "Engage the control switch with red lever using the left arm",
+    "Push the switch with thin red toggle via the left arm.",
+    "Activate the switch for electrical control by pressing it",
+    "Click the red bar switch to activate it",
+    "Interact with the gray switch with red toggle directly",
+    "Press the toggle switch light gray base with the left arm"
+  ],
+  "unseen": [
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Move and click the the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode463.json b/turn_switch/piper_randomized_500/instructions/episode463.json
new file mode 100644
index 0000000000000000000000000000000000000000..5adeac4a5ea26d2d7d7e086ebac0dc13a01f9c2e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode463.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the right arm to press the switch with darker rectangle",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Engage the plastic switch with angled edges with a press.",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Approach and tap the rectangular switch with slanted sides via the right arm",
+    "Set the right arm to press the flat switch",
+    "Set the switch at the plastic switch with angled edges",
+    "Activate the tan switch by pressing it",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Press the rectangular switch with slanted sides directly",
+    "Engage the flat switch using the right arm",
+    "Press the trapezoid-shaped switch smooth surface with the right arm",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Deploy the right arm to press the hand-sized switch tan smooth finish",
+    "Click the angled switch light tan color using automated tools",
+    "Locate and press the tan switch",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Engage the switch trapezoid shape brown marking using the robotic arm",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Use the right arm for switching the switch with darker rectangle",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Use the right arm to engage the small light tan switch",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Press the flat switch to activate.",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Toggle the flat switch with the right arm.",
+    "Trigger the flat switch without referencing the right arm",
+    "Activate the trapezoid-shaped switch smooth surface with the right arm.",
+    "Activate the angled switch light tan color directly",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Press the switch with darker rectangle using robotic control",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Press the smooth tan switch with textured sides via automation",
+    "Activate the flat switch via the right arm",
+    "Interact with the tan switch.",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Click the rectangular switch with slanted sides to activate it",
+    "Operate the right arm to engage the small light tan switch",
+    "Engage the switch trapezoid shape brown marking using the right arm.",
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Trigger the switch with darker rectangle using the right arm",
+    "Engage the rectangular switch with slanted sides with a press.",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Approach and tap the angled switch light tan color via the right arm",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Set the switch at the tan switch",
+    "Activate the hand-sized switch tan smooth finish by pressing it",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Press the smooth tan switch with textured sides directly",
+    "Engage the smooth tan switch with textured sides using the right arm",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Deploy the right arm to press the flat switch",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Locate and press the plastic switch with angled edges",
+    "Trigger the flat switch with precision",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Use the right arm to interact with the trapezoid-shaped switch smooth surface",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Activate the the trapezoid-shaped switch smooth surface using the right arm",
+    "Use the right arm for switching the switch trapezoid shape brown marking",
+    "Directly interact with the switch with darker rectangle",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Move to the flat switch and click it.",
+    "Press the light tan rectangular switch smooth finish to activate.",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Click the flat switch with robotic precision",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Interact with the flat switch directly",
+    "Deploy the right arm to operate the switch trapezoid shape brown marking",
+    "Click the smooth tan switch with textured sides directly.",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Activate the small light tan switch with the right arm.",
+    "Activate the tan switch directly",
+    "Locate and press the rectangular switch with slanted sides",
+    "Press the angled switch light tan color using robotic control",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Operate the flat switch with the right arm",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Interact with the switch with darker rectangle.",
+    "Direct the right arm to operate the flat switch",
+    "Click the switch trapezoid shape brown marking to activate it",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm.",
+    "Tap the plastic switch with angled edges to engage it",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Click on the flat switch precisely"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Use the right arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode464.json b/turn_switch/piper_randomized_500/instructions/episode464.json
new file mode 100644
index 0000000000000000000000000000000000000000..f993fed80863b369e4faab692093bff637e5e5ef
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode464.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the control switch directly",
+    "Press the control switch using the right arm.",
+    "Locate and press the black switch",
+    "Engage the right arm to press the black switch with matte coating",
+    "Activate the control switch via the right arm",
+    "Set the switch at the sleek black rectangular switch",
+    "Tap the compact rectangular black switch to engage it",
+    "Operate the medium-sized black rectangular switch with the right arm",
+    "Set the right arm to press the palm-sized black switch",
+    "Interact with the black rectangular control switch directly",
+    "Use the right arm to interact with the medium-sized black rectangular switch",
+    "Switch the compact rectangular black switch to its active state",
+    "Use the right arm to engage the black switch with slim profile",
+    "Press the black switch with slim profile via automation",
+    "Click the medium-sized black rectangular switch with robotic precision",
+    "Engage the black switch using the right arm.",
+    "Locate and press the slanted-edge plastic black switch",
+    "Engage the control switch using the right arm",
+    "Trigger the palm-sized black switch with precision",
+    "Trigger the medium-sized black rectangular switch using the right arm",
+    "Deploy the right arm to operate the medium-sized black rectangular switch",
+    "Press the black rectangular control switch to activate.",
+    "Use the right arm for switching the black switch",
+    "Press the switch with slanted sides directly",
+    "Toggle the slanted-edge plastic black switch with the right arm.",
+    "Interact with the control switch.",
+    "Approach and tap the black rectangular control switch via the right arm",
+    "Initiate the rectangular switch with smooth surface by clicking",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Engage with the compact rectangular black switch manually",
+    "Click the sleek black rectangular switch directly.",
+    "Trigger the black switch without referencing the right arm",
+    "Deploy the right arm to press the switch with slanted sides",
+    "Press the control switch with the right arm",
+    "Engage the black rectangular control switch with a press.",
+    "Click on the black switch with slim profile precisely",
+    "Operate the right arm to engage the black switch",
+    "Activate the the medium-sized black rectangular switch using the right arm",
+    "Click the black switch with matte coating using automated tools",
+    "Click the palm-sized black switch to activate it",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Directly interact with the black rectangular control switch",
+    "Activate the black switch with matte coating with robotic precision",
+    "Push the medium-sized black rectangular switch via the right arm.",
+    "Activate the compact rectangular black switch with the right arm.",
+    "Press the black switch with slim profile carefully with the right arm",
+    "Direct the right arm to operate the black switch with slim profile",
+    "Press the switch with slanted sides using robotic control",
+    "Command the right arm to engage the medium-sized black rectangular switch",
+    "Engage the black rectangular control switch using the robotic arm",
+    "Activate the black switch with matte coating directly",
+    "Press the black switch with matte coating using the right arm.",
+    "Locate and press the black switch with matte coating",
+    "Engage the right arm to press the compact rectangular black switch",
+    "Activate the switch with slanted sides via the right arm",
+    "Set the switch at the black rectangular control switch",
+    "Tap the black rectangular control switch to engage it",
+    "Operate the slanted-edge plastic black switch with the right arm",
+    "Set the right arm to press the black switch with matte coating",
+    "Interact with the palm-sized black switch directly",
+    "Use the right arm to interact with the compact rectangular black switch",
+    "Switch the rectangular switch with smooth surface to its active state",
+    "Use the right arm to engage the black switch with matte coating",
+    "Press the control switch via automation",
+    "Click the switch with slanted sides with robotic precision",
+    "Engage the palm-sized black switch using the right arm.",
+    "Locate and press the sleek black rectangular switch",
+    "Engage the medium-sized black rectangular switch using the right arm",
+    "Trigger the black switch with matte coating with precision",
+    "Trigger the control switch using the right arm",
+    "Deploy the right arm to operate the medium-sized black rectangular switch",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Use the right arm for switching the compact rectangular black switch",
+    "Press the switch with slanted sides directly",
+    "Toggle the rectangular switch with smooth surface with the right arm.",
+    "Interact with the switch with slanted sides.",
+    "Approach and tap the medium-sized black rectangular switch via the right arm",
+    "Initiate the black switch with matte coating by clicking",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Engage with the black rectangular control switch manually",
+    "Click the black switch directly.",
+    "Trigger the black switch with matte coating without referencing the right arm",
+    "Deploy the right arm to press the slanted-edge plastic black switch",
+    "Press the medium-sized black rectangular switch with the right arm",
+    "Engage the black switch with matte coating with a press.",
+    "Click on the rectangular switch with smooth surface precisely",
+    "Operate the right arm to engage the rectangular switch with smooth surface",
+    "Activate the the sleek black rectangular switch using the right arm",
+    "Click the black switch with slim profile using automated tools",
+    "Click the black switch with matte coating to activate it",
+    "Move to the compact rectangular black switch and click it.",
+    "Directly interact with the rectangular switch with smooth surface",
+    "Activate the palm-sized black switch with robotic precision",
+    "Push the sleek black rectangular switch via the right arm.",
+    "Activate the black rectangular control switch with the right arm.",
+    "Press the switch with slanted sides carefully with the right arm",
+    "Direct the right arm to operate the medium-sized black rectangular switch",
+    "Press the switch with slanted sides using robotic control",
+    "Command the right arm to engage the slanted-edge plastic black switch",
+    "Engage the black rectangular control switch using the robotic arm"
+  ],
+  "unseen": [
+    "Click the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Press the smooth black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Use the right arm to press the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Click the smooth black switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode467.json b/turn_switch/piper_randomized_500/instructions/episode467.json
new file mode 100644
index 0000000000000000000000000000000000000000..860a0f66d0687ed13998061be4b67ef17fbf454c
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode467.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Operate the left arm to engage the rectangular switch with slanted sides",
+    "Engage the switch with darker rectangle using the left arm.",
+    "Move to the flat switch and click it.",
+    "Operate the flat switch with the left arm",
+    "Initiate the small light tan switch by clicking",
+    "Press the tan switch using the left arm.",
+    "Trigger the light tan rectangular switch smooth finish using the left arm",
+    "Engage the left arm to press the trapezoid-shaped switch smooth surface",
+    "Toggle the switch trapezoid shape brown marking with the left arm.",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Press the smooth tan switch with textured sides with the left arm",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Press the smooth tan switch with textured sides carefully with the left arm",
+    "Engage the angled switch light tan color with a press.",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Use the left arm for switching the tan switch",
+    "Activate the switch trapezoid shape brown marking via the left arm",
+    "Press the light tan rectangular switch smooth finish via automation",
+    "Activate the rectangular switch with slanted sides directly",
+    "Push the switch with darker rectangle via the left arm.",
+    "Activate the plastic switch with angled edges by pressing it",
+    "Press the plastic switch with angled edges directly",
+    "Use the left arm to interact with the angled switch light tan color",
+    "Locate and press the rectangular switch with slanted sides",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Activate the flat switch with the left arm.",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Use the left arm to engage the flat switch",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Activate the the switch trapezoid shape brown marking using the left arm",
+    "Click the smooth tan switch with textured sides directly.",
+    "Deploy the left arm to operate the flat switch",
+    "Trigger the trapezoid-shaped switch smooth surface with precision",
+    "Set the left arm to press the smooth tan switch with textured sides",
+    "Directly interact with the smooth tan switch with textured sides",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Approach and tap the angled switch light tan color via the left arm",
+    "Command the left arm to engage the tan switch",
+    "Press the plastic switch with angled edges using robotic control",
+    "Interact with the angled switch light tan color directly",
+    "Trigger the angled switch light tan color without referencing the left arm",
+    "Direct the left arm to operate the rectangular switch with slanted sides",
+    "Tap the rectangular switch with slanted sides to engage it",
+    "Deploy the left arm to press the rectangular switch with slanted sides",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Press the smooth tan switch with textured sides to activate.",
+    "Click the flat switch to activate it",
+    "Operate the left arm to engage the small light tan switch",
+    "Engage the flat switch using the left arm.",
+    "Move to the light tan rectangular switch smooth finish and click it.",
+    "Operate the angled switch light tan color with the left arm",
+    "Initiate the hand-sized switch tan smooth finish by clicking",
+    "Press the smooth tan switch with textured sides using the left arm.",
+    "Trigger the rectangular switch with slanted sides using the left arm",
+    "Engage the left arm to press the switch trapezoid shape brown marking",
+    "Toggle the smooth tan switch with textured sides with the left arm.",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Press the switch with darker rectangle with the left arm",
+    "Engage with the switch with darker rectangle manually",
+    "Press the small light tan switch carefully with the left arm",
+    "Engage the switch with darker rectangle with a press.",
+    "Interact with the plastic switch with angled edges.",
+    "Use the left arm for switching the switch trapezoid shape brown marking",
+    "Activate the tan switch via the left arm",
+    "Press the plastic switch with angled edges via automation",
+    "Activate the rectangular switch with slanted sides directly",
+    "Push the light tan rectangular switch smooth finish via the left arm.",
+    "Activate the angled switch light tan color by pressing it",
+    "Press the smooth tan switch with textured sides directly",
+    "Use the left arm to interact with the light tan rectangular switch smooth finish",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Engage the trapezoid-shaped switch smooth surface using the left arm",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Click on the flat switch precisely",
+    "Locate and press the switch with darker rectangle",
+    "Activate the tan switch with robotic precision",
+    "Use the left arm to engage the angled switch light tan color",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Activate the the light tan rectangular switch smooth finish using the left arm",
+    "Click the flat switch directly.",
+    "Deploy the left arm to operate the hand-sized switch tan smooth finish",
+    "Trigger the tan switch with precision",
+    "Set the left arm to press the plastic switch with angled edges",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Click the flat switch with robotic precision",
+    "Approach and tap the switch trapezoid shape brown marking via the left arm",
+    "Command the left arm to engage the smooth tan switch with textured sides",
+    "Press the plastic switch with angled edges using robotic control",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Trigger the angled switch light tan color without referencing the left arm",
+    "Direct the left arm to operate the small light tan switch",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Deploy the left arm to press the smooth tan switch with textured sides",
+    "Click the switch with darker rectangle using automated tools",
+    "Press the tan switch to activate."
+  ],
+  "unseen": [
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Activate the switch at the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode468.json b/turn_switch/piper_randomized_500/instructions/episode468.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8e4c666126eb45c17fdd6283c28d29918fd2cc
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode468.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the the matte beige switch with flat top using the right arm",
+    "Locate and press the beige switch",
+    "Activate the switch with brown button directly",
+    "Engage with the beige switch manually",
+    "Set the right arm to press the switch with rectangular dark button",
+    "Engage the switch with a smooth top using the right arm",
+    "Click the hand-sized light beige switch using automated tools",
+    "Activate the tiny matte beige toggle switch via the right arm",
+    "Move to the small trapezoid switch and click it.",
+    "Engage the beige switch with smooth finish using the right arm.",
+    "Engage the switch with brown button with a press.",
+    "Directly interact with the switch with rectangular dark button",
+    "Trigger the switch with brown button with precision",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Press the switch with brown button directly",
+    "Interact with the matte beige switch with flat top.",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Press the light plastic switch carefully with the right arm",
+    "Command the right arm to engage the switch with brown button",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Activate the beige switch with smooth finish with robotic precision",
+    "Click on the small trapezoid switch precisely",
+    "Engage the right arm to press the switch with a smooth top",
+    "Use the right arm for switching the light plastic switch",
+    "Locate and press the beige switch",
+    "Press the beige switch using the right arm.",
+    "Trigger the small trapezoid switch without referencing the right arm",
+    "Press the light plastic switch using robotic control",
+    "Deploy the right arm to press the beige switch",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Initiate the beige switch by clicking",
+    "Use the right arm to interact with the toggle switch with brown rectangle button",
+    "Interact with the hand-sized light beige switch directly",
+    "Operate the right arm to engage the hand-sized light beige switch",
+    "Activate the toggle switch with brown rectangle button by pressing it",
+    "Operate the switch with brown button with the right arm",
+    "Click the small trapezoid switch with robotic precision",
+    "Toggle the light plastic switch with the right arm.",
+    "Push the small trapezoid switch via the right arm.",
+    "Click the tiny matte beige toggle switch to activate it",
+    "Tap the matte beige switch with flat top to engage it",
+    "Press the toggle switch with brown rectangle button with the right arm",
+    "Use the right arm to engage the light plastic switch",
+    "Press the switch with rectangular dark button to activate.",
+    "Press the light plastic switch via automation",
+    "Trigger the tiny matte beige toggle switch using the right arm",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Direct the right arm to operate the switch with rectangular dark button",
+    "Activate the light plastic switch with the right arm.",
+    "Deploy the right arm to operate the toggle switch with brown rectangle button",
+    "Activate the the switch with brown button using the right arm",
+    "Locate and press the matte beige switch with flat top",
+    "Activate the switch with rectangular dark button directly",
+    "Engage with the light-colored trapezoid-shaped plastic switch manually",
+    "Set the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the switch with rectangular dark button using the right arm",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Activate the light plastic switch via the right arm",
+    "Move to the switch with rectangular dark button and click it.",
+    "Engage the hand-sized light beige switch using the right arm.",
+    "Engage the small trapezoid switch with a press.",
+    "Directly interact with the switch with a smooth top",
+    "Trigger the hand-sized light beige switch with precision",
+    "Set the switch at the tiny matte beige toggle switch",
+    "Press the light plastic switch directly",
+    "Interact with the hand-sized light beige switch.",
+    "Switch the hand-sized light beige switch to its active state",
+    "Press the switch with rectangular dark button carefully with the right arm",
+    "Command the right arm to engage the small trapezoid switch",
+    "Approach and tap the small trapezoid switch via the right arm",
+    "Activate the beige switch with robotic precision",
+    "Click on the toggle switch with brown rectangle button precisely",
+    "Engage the right arm to press the small trapezoid switch",
+    "Use the right arm for switching the small trapezoid switch",
+    "Locate and press the hand-sized light beige switch",
+    "Press the small trapezoid switch using the right arm.",
+    "Trigger the switch with brown button without referencing the right arm",
+    "Press the beige switch with smooth finish using robotic control",
+    "Deploy the right arm to press the switch with brown button",
+    "Click the tiny matte beige toggle switch directly.",
+    "Initiate the light plastic switch by clicking",
+    "Use the right arm to interact with the light-colored trapezoid-shaped plastic switch",
+    "Interact with the toggle switch with brown rectangle button directly",
+    "Operate the right arm to engage the switch with rectangular dark button",
+    "Activate the switch with a smooth top by pressing it",
+    "Operate the light plastic switch with the right arm",
+    "Click the beige switch with robotic precision",
+    "Toggle the tiny matte beige toggle switch with the right arm.",
+    "Push the beige switch with smooth finish via the right arm.",
+    "Click the matte beige switch with flat top to activate it",
+    "Tap the tiny matte beige toggle switch to engage it",
+    "Press the tiny matte beige toggle switch with the right arm",
+    "Use the right arm to engage the beige switch with smooth finish",
+    "Press the switch with rectangular dark button to activate.",
+    "Press the switch with rectangular dark button via automation",
+    "Trigger the beige switch with smooth finish using the right arm",
+    "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm",
+    "Direct the right arm to operate the switch with a smooth top",
+    "Activate the switch with rectangular dark button with the right arm.",
+    "Deploy the right arm to operate the light plastic switch"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode470.json b/turn_switch/piper_randomized_500/instructions/episode470.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e01a69d67d4ae26d3cbdd4bf6c08b6a30b04d2f
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode470.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the gray plastic switch with a press.",
+    "Trigger the gray base with black buttons without referencing the right arm",
+    "Move to the gray plastic switch and click it.",
+    "Engage with the handheld switch manually",
+    "Use the right arm to interact with the medium switch with trapezoidal base",
+    "Operate the gray base with black buttons with the right arm",
+    "Press the gray smooth surface switch with the right arm",
+    "Direct the right arm to operate the plastic switch with matte buttons",
+    "Set the right arm to press the plastic switch with matte buttons",
+    "Interact with the gray switch with black buttons directly",
+    "Activate the gray smooth surface switch directly",
+    "Press the handheld switch using the right arm.",
+    "Approach and tap the handheld switch via the right arm",
+    "Press the medium switch with trapezoidal base directly",
+    "Push the two-button gray switch via the right arm.",
+    "Operate the right arm to engage the two-button gray switch",
+    "Click the gray smooth surface switch directly.",
+    "Press the switch with trapezoidal base via automation",
+    "Engage the handheld switch using the right arm.",
+    "Click the smooth gray switch with robotic precision",
+    "Click the medium switch with trapezoidal base using automated tools",
+    "Click on the plastic switch with matte buttons precisely",
+    "Use the right arm to engage the gray smooth surface switch",
+    "Set the switch at the electric toggle switch",
+    "Activate the electric toggle switch by pressing it",
+    "Deploy the right arm to press the handheld switch",
+    "Interact with the switch with trapezoidal base.",
+    "Press the medium switch with trapezoidal base using robotic control",
+    "Engage the gray plastic switch using the right arm",
+    "Initiate the two-button gray switch by clicking",
+    "Press the medium switch with trapezoidal base carefully with the right arm",
+    "Activate the two-button gray switch via the right arm",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Use the right arm for switching the handheld switch",
+    "Locate and press the two-button gray switch",
+    "Click the handheld switch to activate it",
+    "Activate the gray smooth surface switch with the right arm.",
+    "Activate the gray base with black buttons with robotic precision",
+    "Engage the right arm to press the gray switch with black buttons",
+    "Deploy the right arm to operate the gray smooth surface switch",
+    "Locate and press the switch with trapezoidal base",
+    "Toggle the gray base with black buttons with the right arm.",
+    "Switch the gray plastic switch to its active state",
+    "Directly interact with the two-button gray switch",
+    "Tap the two-button gray switch to engage it",
+    "Activate the the electric toggle switch using the right arm",
+    "Trigger the gray base with black buttons with precision",
+    "Command the right arm to engage the gray base with black buttons",
+    "Press the handheld switch to activate.",
+    "Trigger the gray base with black buttons using the right arm",
+    "Engage the handheld switch with a press.",
+    "Trigger the switch with trapezoidal base without referencing the right arm",
+    "Move to the handheld switch and click it.",
+    "Engage with the plastic switch with matte buttons manually",
+    "Use the right arm to interact with the gray switch with black buttons",
+    "Operate the gray base with black buttons with the right arm",
+    "Press the switch with trapezoidal base with the right arm",
+    "Direct the right arm to operate the smooth gray switch",
+    "Set the right arm to press the electric toggle switch",
+    "Interact with the gray base with black buttons directly",
+    "Activate the handheld switch directly",
+    "Press the electric toggle switch using the right arm.",
+    "Approach and tap the handheld switch via the right arm",
+    "Press the plastic switch with matte buttons directly",
+    "Push the two-button gray switch via the right arm.",
+    "Operate the right arm to engage the trapezoidal base switch",
+    "Click the smooth gray switch directly.",
+    "Press the gray plastic switch via automation",
+    "Engage the smooth gray switch using the right arm.",
+    "Click the gray smooth surface switch with robotic precision",
+    "Click the switch with trapezoidal base using automated tools",
+    "Click on the gray base with black buttons precisely",
+    "Use the right arm to engage the medium switch with trapezoidal base",
+    "Set the switch at the electric toggle switch",
+    "Activate the gray plastic switch by pressing it",
+    "Deploy the right arm to press the switch with trapezoidal base",
+    "Interact with the handheld switch.",
+    "Press the gray plastic switch using robotic control",
+    "Engage the two-button gray switch using the right arm",
+    "Initiate the trapezoidal base switch by clicking",
+    "Press the medium switch with trapezoidal base carefully with the right arm",
+    "Activate the medium switch with trapezoidal base via the right arm",
+    "Engage the medium switch with trapezoidal base using the robotic arm",
+    "Use the right arm for switching the plastic switch with matte buttons",
+    "Locate and press the plastic switch with matte buttons",
+    "Click the trapezoidal base switch to activate it",
+    "Activate the gray smooth surface switch with the right arm.",
+    "Activate the gray base with black buttons with robotic precision",
+    "Engage the right arm to press the smooth gray switch",
+    "Deploy the right arm to operate the electric toggle switch",
+    "Locate and press the gray plastic switch",
+    "Toggle the electric toggle switch with the right arm.",
+    "Switch the smooth gray switch to its active state",
+    "Directly interact with the handheld switch",
+    "Tap the gray switch with black buttons to engage it",
+    "Activate the the electric toggle switch using the right arm",
+    "Trigger the gray smooth surface switch with precision",
+    "Command the right arm to engage the smooth gray switch",
+    "Press the gray smooth surface switch to activate.",
+    "Trigger the gray base with black buttons using the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to press the gray switch.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the gray switch medium size with the right arm",
+    "Move and click the the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the switch with circular black buttons using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm.",
+    "Press the switch with circular black buttons using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the switch with circular black buttons with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch using the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the gray switch medium size",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch",
+    "Click the gray switch with the right arm.",
+    "Press the gray switch medium size using the right arm",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch medium size",
+    "Use the right arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch medium size",
+    "Click the gray switch medium size with the right arm.",
+    "Press the gray switch using the right arm",
+    "Direct the right arm to click the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Click the gray switch with the right arm",
+    "Move and click the the gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode471.json b/turn_switch/piper_randomized_500/instructions/episode471.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27bbe82a1ebe514234ad107cbcaede17a44951a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode471.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the rectangular black plastic switch with the right arm.",
+    "Engage the compact switch with toggle on top using the right arm",
+    "Trigger the small switch without referencing the right arm",
+    "Locate and press the rectangular switch with curved lever",
+    "Activate the black base switch with red toggle via the right arm",
+    "Initiate the black switch with metallic connectors by clicking",
+    "Click the compact switch with toggle on top to activate it",
+    "Engage the right arm to press the plastic switch with metal terminals",
+    "Move to the black base switch with red toggle and click it.",
+    "Trigger the red and black switch using the right arm",
+    "Engage the red and black switch using the robotic arm",
+    "Deploy the right arm to press the red-top black switch",
+    "Press the black switch with metallic connectors with the right arm",
+    "Press the black switch with metallic connectors using the right arm.",
+    "Command the right arm to engage the black switch",
+    "Operate the right arm to engage the black switch",
+    "Direct the right arm to operate the red and black switch",
+    "Deploy the right arm to operate the switch with curved red toggle",
+    "Use the right arm to engage the rectangular black plastic switch",
+    "Activate the black switch by pressing it",
+    "Activate the the compact switch with toggle on top using the right arm",
+    "Interact with the switch with curved red toggle.",
+    "Tap the red and black switch to engage it",
+    "Push the plastic switch with metal terminals via the right arm.",
+    "Trigger the compact switch with toggle on top with precision",
+    "Click on the compact switch with toggle on top precisely",
+    "Press the switch with curved red toggle directly",
+    "Activate the red and black switch with robotic precision",
+    "Click the switch with curved red toggle using automated tools",
+    "Engage with the small switch manually",
+    "Activate the rectangular switch with curved lever directly",
+    "Engage the compact switch with toggle on top using the right arm.",
+    "Press the switch with curved red toggle carefully with the right arm",
+    "Press the red and black switch using robotic control",
+    "Approach and tap the red-top black switch via the right arm",
+    "Press the plastic switch with metal terminals via automation",
+    "Use the right arm to interact with the small switch",
+    "Set the switch at the switch with curved red toggle",
+    "Locate and press the black switch with metallic connectors",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Operate the black switch with metallic connectors with the right arm",
+    "Click the black switch with metallic connectors directly.",
+    "Toggle the plastic switch with metal terminals with the right arm.",
+    "Press the rectangular switch with curved lever to activate.",
+    "Switch the rectangular black plastic switch to its active state",
+    "Use the right arm for switching the small switch",
+    "Directly interact with the red-top black switch",
+    "Interact with the small switch directly",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Set the right arm to press the red and black switch",
+    "Activate the black switch with the right arm.",
+    "Engage the plastic switch with metal terminals using the right arm",
+    "Trigger the switch with curved red toggle without referencing the right arm",
+    "Locate and press the switch with curved red toggle",
+    "Activate the black switch with metallic connectors via the right arm",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Click the red-top black switch to activate it",
+    "Engage the right arm to press the black switch",
+    "Move to the rectangular switch with curved lever and click it.",
+    "Trigger the black switch with metallic connectors using the right arm",
+    "Engage the small switch using the robotic arm",
+    "Deploy the right arm to press the rectangular switch with curved lever",
+    "Press the compact switch with toggle on top with the right arm",
+    "Press the black base switch with red toggle using the right arm.",
+    "Command the right arm to engage the red and black switch",
+    "Operate the right arm to engage the red and black switch",
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Deploy the right arm to operate the red and black switch",
+    "Use the right arm to engage the hand-sized switch with connector prongs",
+    "Activate the black base switch with red toggle by pressing it",
+    "Activate the the red-top black switch using the right arm",
+    "Interact with the hand-sized switch with connector prongs.",
+    "Tap the compact switch with toggle on top to engage it",
+    "Push the switch with curved red toggle via the right arm.",
+    "Trigger the red and black switch with precision",
+    "Click on the red-top black switch precisely",
+    "Press the red-top black switch directly",
+    "Activate the red and black switch with robotic precision",
+    "Click the black switch with metallic connectors using automated tools",
+    "Engage with the compact switch with toggle on top manually",
+    "Activate the black base switch with red toggle directly",
+    "Engage the red and black switch using the right arm.",
+    "Press the compact switch with toggle on top carefully with the right arm",
+    "Press the plastic switch with metal terminals using robotic control",
+    "Approach and tap the compact switch with toggle on top via the right arm",
+    "Press the black switch via automation",
+    "Use the right arm to interact with the black base switch with red toggle",
+    "Set the switch at the switch with curved red toggle",
+    "Locate and press the black switch with metallic connectors",
+    "Click the red and black switch with robotic precision",
+    "Operate the compact switch with toggle on top with the right arm",
+    "Click the rectangular switch with curved lever directly.",
+    "Toggle the red and black switch with the right arm.",
+    "Press the black switch to activate.",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Use the right arm for switching the rectangular black plastic switch",
+    "Directly interact with the red-top black switch",
+    "Interact with the rectangular black plastic switch directly",
+    "Engage the compact switch with toggle on top with a press.",
+    "Set the right arm to press the hand-sized switch with connector prongs"
+  ],
+  "unseen": [
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the simple toggle switch using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Move and click the the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever using the right arm",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the switch with two metal prongs using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever using the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the simple toggle switch",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the simple toggle switch using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the simple toggle switch using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Move and click the the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the switch with two metal prongs using the right arm",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Move and click the the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the simple toggle switch using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the simple toggle switch",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Click the simple toggle switch using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Move and click the the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the switch with two metal prongs using the right arm",
+    "Direct the right arm to click the smooth black switch with red lever"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode472.json b/turn_switch/piper_randomized_500/instructions/episode472.json
new file mode 100644
index 0000000000000000000000000000000000000000..61caf3ccebea0868fda60d393f3b7eae29d5a4f6
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode472.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the plastic switch with metal terminals using the robotic arm",
+    "Push the small switch via the right arm.",
+    "Click the small switch with robotic precision",
+    "Press the switch with curved red toggle via automation",
+    "Interact with the black switch with metallic connectors.",
+    "Activate the compact switch with toggle on top via the right arm",
+    "Locate and press the rectangular switch with curved lever",
+    "Engage the small switch with a press.",
+    "Tap the black base switch with red toggle to engage it",
+    "Press the hand-sized switch with connector prongs to activate.",
+    "Approach and tap the red-top black switch via the right arm",
+    "Set the right arm to press the small switch",
+    "Deploy the right arm to operate the small switch",
+    "Interact with the compact switch with toggle on top directly",
+    "Engage the black switch using the right arm.",
+    "Trigger the black switch without referencing the right arm",
+    "Operate the right arm to engage the black switch",
+    "Engage the right arm to press the red-top black switch",
+    "Press the rectangular switch with curved lever carefully with the right arm",
+    "Click on the rectangular switch with curved lever precisely",
+    "Activate the red and black switch with the right arm.",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Press the plastic switch with metal terminals directly",
+    "Trigger the compact switch with toggle on top using the right arm",
+    "Click the black switch with metallic connectors using automated tools",
+    "Click the hand-sized switch with connector prongs to activate it",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Move to the switch with curved red toggle and click it.",
+    "Operate the rectangular switch with curved lever with the right arm",
+    "Locate and press the black switch",
+    "Engage the black switch using the right arm",
+    "Engage with the red and black switch manually",
+    "Deploy the right arm to press the black switch",
+    "Press the hand-sized switch with connector prongs using the right arm.",
+    "Toggle the red-top black switch with the right arm.",
+    "Command the right arm to engage the small switch",
+    "Activate the red-top black switch directly",
+    "Set the switch at the rectangular black plastic switch",
+    "Press the switch with curved red toggle using robotic control",
+    "Use the right arm for switching the red-top black switch",
+    "Activate the switch with curved red toggle with robotic precision",
+    "Press the switch with curved red toggle with the right arm",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Trigger the switch with curved red toggle with precision",
+    "Use the right arm to interact with the plastic switch with metal terminals",
+    "Use the right arm to engage the black switch",
+    "Activate the the hand-sized switch with connector prongs using the right arm",
+    "Switch the red and black switch to its active state",
+    "Direct the right arm to operate the plastic switch with metal terminals",
+    "Directly interact with the black switch",
+    "Engage the hand-sized switch with connector prongs using the robotic arm",
+    "Push the hand-sized switch with connector prongs via the right arm.",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Press the switch with curved red toggle via automation",
+    "Interact with the rectangular switch with curved lever.",
+    "Activate the rectangular switch with curved lever via the right arm",
+    "Locate and press the red-top black switch",
+    "Engage the switch with curved red toggle with a press.",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Press the rectangular black plastic switch to activate.",
+    "Approach and tap the plastic switch with metal terminals via the right arm",
+    "Set the right arm to press the red-top black switch",
+    "Deploy the right arm to operate the small switch",
+    "Interact with the rectangular black plastic switch directly",
+    "Engage the rectangular black plastic switch using the right arm.",
+    "Trigger the red-top black switch without referencing the right arm",
+    "Operate the right arm to engage the red and black switch",
+    "Engage the right arm to press the red-top black switch",
+    "Press the rectangular switch with curved lever carefully with the right arm",
+    "Click on the plastic switch with metal terminals precisely",
+    "Activate the switch with curved red toggle with the right arm.",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Press the compact switch with toggle on top directly",
+    "Trigger the red-top black switch using the right arm",
+    "Click the red-top black switch using automated tools",
+    "Click the black base switch with red toggle to activate it",
+    "Initiate the black switch by clicking",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Operate the red-top black switch with the right arm",
+    "Locate and press the black switch",
+    "Engage the compact switch with toggle on top using the right arm",
+    "Engage with the black switch with metallic connectors manually",
+    "Deploy the right arm to press the compact switch with toggle on top",
+    "Press the black switch using the right arm.",
+    "Toggle the plastic switch with metal terminals with the right arm.",
+    "Command the right arm to engage the rectangular black plastic switch",
+    "Activate the rectangular switch with curved lever directly",
+    "Set the switch at the rectangular switch with curved lever",
+    "Press the small switch using robotic control",
+    "Use the right arm for switching the rectangular black plastic switch",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Press the plastic switch with metal terminals with the right arm",
+    "Click the plastic switch with metal terminals directly.",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Use the right arm to interact with the switch with curved red toggle",
+    "Use the right arm to engage the small switch",
+    "Activate the the black switch with metallic connectors using the right arm",
+    "Switch the red and black switch to its active state",
+    "Direct the right arm to operate the small switch",
+    "Directly interact with the red and black switch"
+  ],
+  "unseen": [
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the simple toggle switch with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch with the right arm.",
+    "Click the switch with two metal prongs with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the simple toggle switch",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the switch with two metal prongs with the right arm",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the simple toggle switch",
+    "Direct the right arm to click the simple toggle switch",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the smooth black switch with red lever",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the switch with two metal prongs with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the right arm",
+    "Move and click the the simple toggle switch",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the switch with two metal prongs using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Move and click the the simple toggle switch",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the right arm.",
+    "Click the smooth black switch with red lever with the right arm",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Click the simple toggle switch with the right arm",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever using the right arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch.",
+    "Click the simple toggle switch with the right arm",
+    "Move and click the the switch with two metal prongs",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the right arm.",
+    "Click the switch with two metal prongs with the right arm",
+    "Press the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode478.json b/turn_switch/piper_randomized_500/instructions/episode478.json
new file mode 100644
index 0000000000000000000000000000000000000000..7203ea8b867098d698d8d948ab8fe66e1061b4e3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode478.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the matte beige switch with flat top to activate.",
+    "Click the matte beige switch with flat top directly.",
+    "Press the beige switch directly",
+    "Deploy the right arm to operate the toggle switch with brown rectangle button",
+    "Engage the light plastic switch using the right arm",
+    "Directly interact with the switch with a smooth top",
+    "Activate the the switch with a smooth top using the right arm",
+    "Click the switch with a smooth top using automated tools",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Operate the right arm to engage the light plastic switch",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Activate the beige switch by pressing it",
+    "Click on the switch with a smooth top precisely",
+    "Press the tiny matte beige toggle switch using the right arm.",
+    "Initiate the tiny matte beige toggle switch by clicking",
+    "Activate the switch with a smooth top via the right arm",
+    "Click the toggle switch with brown rectangle button with robotic precision",
+    "Press the light plastic switch carefully with the right arm",
+    "Operate the switch with brown button with the right arm",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Move to the matte beige switch with flat top and click it.",
+    "Activate the light plastic switch with robotic precision",
+    "Set the switch at the matte beige switch with flat top",
+    "Deploy the right arm to press the hand-sized light beige switch",
+    "Switch the switch with rectangular dark button to its active state",
+    "Press the switch with brown button with the right arm",
+    "Press the tiny matte beige toggle switch using robotic control",
+    "Press the matte beige switch with flat top via automation",
+    "Engage the right arm to press the small trapezoid switch",
+    "Tap the light plastic switch to engage it",
+    "Set the right arm to press the light plastic switch",
+    "Engage the matte beige switch with flat top with a press.",
+    "Direct the right arm to operate the beige switch",
+    "Use the right arm to interact with the beige switch with smooth finish",
+    "Activate the beige switch with smooth finish directly",
+    "Use the right arm to engage the switch with a smooth top",
+    "Engage the hand-sized light beige switch using the right arm.",
+    "Use the right arm for switching the light plastic switch",
+    "Push the switch with brown button via the right arm.",
+    "Engage with the beige switch manually",
+    "Interact with the small trapezoid switch.",
+    "Trigger the switch with brown button with precision",
+    "Command the right arm to engage the beige switch",
+    "Approach and tap the hand-sized light beige switch via the right arm",
+    "Locate and press the switch with rectangular dark button",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Interact with the matte beige switch with flat top directly",
+    "Trigger the small trapezoid switch using the right arm",
+    "Trigger the beige switch without referencing the right arm",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Click the tiny matte beige toggle switch directly.",
+    "Press the tiny matte beige toggle switch directly",
+    "Deploy the right arm to operate the beige switch",
+    "Engage the light plastic switch using the right arm",
+    "Directly interact with the beige switch with smooth finish",
+    "Activate the the light plastic switch using the right arm",
+    "Click the switch with a smooth top using automated tools",
+    "Locate and press the beige switch with smooth finish",
+    "Toggle the beige switch with the right arm.",
+    "Operate the right arm to engage the beige switch with smooth finish",
+    "Click the beige switch to activate it",
+    "Activate the light plastic switch by pressing it",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Press the light plastic switch using the right arm.",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Activate the toggle switch with brown rectangle button via the right arm",
+    "Click the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Press the switch with brown button carefully with the right arm",
+    "Operate the toggle switch with brown rectangle button with the right arm",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Move to the light plastic switch and click it.",
+    "Activate the beige switch with robotic precision",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Deploy the right arm to press the toggle switch with brown rectangle button",
+    "Switch the switch with brown button to its active state",
+    "Press the switch with brown button with the right arm",
+    "Press the hand-sized light beige switch using robotic control",
+    "Press the toggle switch with brown rectangle button via automation",
+    "Engage the right arm to press the beige switch with smooth finish",
+    "Tap the light-colored trapezoid-shaped plastic switch to engage it",
+    "Set the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the tiny matte beige toggle switch with a press.",
+    "Direct the right arm to operate the switch with brown button",
+    "Use the right arm to interact with the hand-sized light beige switch",
+    "Activate the switch with brown button directly",
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Engage the switch with brown button using the right arm.",
+    "Use the right arm for switching the toggle switch with brown rectangle button",
+    "Push the hand-sized light beige switch via the right arm.",
+    "Engage with the switch with a smooth top manually",
+    "Interact with the beige switch with smooth finish.",
+    "Trigger the light plastic switch with precision",
+    "Command the right arm to engage the switch with rectangular dark button",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Locate and press the tiny matte beige toggle switch",
+    "Engage the beige switch using the robotic arm",
+    "Interact with the matte beige switch with flat top directly",
+    "Trigger the beige switch using the right arm",
+    "Trigger the tiny matte beige toggle switch without referencing the right arm"
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode479.json b/turn_switch/piper_randomized_500/instructions/episode479.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e24986d2071aa207f4e0404e21f90169c840823
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode479.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage with the smooth tan switch with textured sides manually",
+    "Activate the switch with darker rectangle with the right arm.",
+    "Trigger the light tan rectangular switch smooth finish with precision",
+    "Interact with the plastic switch with angled edges.",
+    "Activate the light tan rectangular switch smooth finish via the right arm",
+    "Trigger the tan switch without referencing the right arm",
+    "Toggle the angled switch light tan color with the right arm.",
+    "Deploy the right arm to press the flat switch",
+    "Press the trapezoid-shaped switch smooth surface with the right arm",
+    "Tap the angled switch light tan color to engage it",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Approach and tap the flat switch via the right arm",
+    "Command the right arm to engage the switch trapezoid shape brown marking",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Deploy the right arm to operate the switch trapezoid shape brown marking",
+    "Engage the small light tan switch with a press.",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Use the right arm to engage the flat switch",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Activate the the smooth tan switch with textured sides using the right arm",
+    "Directly interact with the small light tan switch",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Engage the small light tan switch using the robotic arm",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Operate the light tan rectangular switch smooth finish with the right arm",
+    "Click the small light tan switch to activate it",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Activate the flat switch by pressing it",
+    "Press the flat switch to activate.",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Engage the switch trapezoid shape brown marking using the right arm",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Push the small light tan switch via the right arm.",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Press the trapezoid-shaped switch smooth surface using robotic control",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Operate the right arm to engage the flat switch",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Click the angled switch light tan color directly.",
+    "Switch the tan switch to its active state",
+    "Click on the flat switch precisely",
+    "Engage the right arm to press the angled switch light tan color",
+    "Move to the tan switch and click it.",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Use the right arm to interact with the light tan rectangular switch smooth finish",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Engage the small light tan switch using the right arm.",
+    "Locate and press the angled switch light tan color",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Activate the switch with darker rectangle with the right arm.",
+    "Trigger the flat switch with precision",
+    "Interact with the flat switch.",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Toggle the tan switch with the right arm.",
+    "Deploy the right arm to press the switch with darker rectangle",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Initiate the plastic switch with angled edges by clicking",
+    "Approach and tap the smooth tan switch with textured sides via the right arm",
+    "Command the right arm to engage the angled switch light tan color",
+    "Set the right arm to press the switch with darker rectangle",
+    "Deploy the right arm to operate the hand-sized switch tan smooth finish",
+    "Engage the flat switch with a press.",
+    "Direct the right arm to operate the switch with darker rectangle",
+    "Use the right arm to engage the switch with darker rectangle",
+    "Locate and press the small light tan switch",
+    "Interact with the rectangular switch with slanted sides directly",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Activate the flat switch directly",
+    "Engage the flat switch using the robotic arm",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Click the flat switch to activate it",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Activate the light tan rectangular switch smooth finish by pressing it",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Press the smooth tan switch with textured sides directly",
+    "Engage the switch with darker rectangle using the right arm",
+    "Press the flat switch using the right arm.",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Press the rectangular switch with slanted sides via automation",
+    "Press the tan switch using robotic control",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Operate the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Click the angled switch light tan color using automated tools",
+    "Use the right arm for switching the switch trapezoid shape brown marking",
+    "Click the switch with darker rectangle directly.",
+    "Switch the small light tan switch to its active state",
+    "Click on the tan switch precisely",
+    "Engage the right arm to press the hand-sized switch tan smooth finish",
+    "Move to the small light tan switch and click it.",
+    "Set the switch at the angled switch light tan color",
+    "Use the right arm to interact with the smooth tan switch with textured sides",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Engage the smooth tan switch with textured sides using the right arm.",
+    "Locate and press the plastic switch with angled edges"
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode481.json b/turn_switch/piper_randomized_500/instructions/episode481.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc190927dad747d3b0216dce80e7d9fd151c756
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode481.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Directly interact with the flat square with raised center",
+    "Deploy the right arm to operate the light gray plastic switch",
+    "Trigger the light gray plastic switch without referencing the right arm",
+    "Interact with the light gray plastic switch.",
+    "Activate the switch for electrical control with robotic precision",
+    "Trigger the angled-edge gray square switch with precision",
+    "Press the flat square with raised center directly",
+    "Press the light gray plastic switch to activate.",
+    "Use the right arm for switching the small square switch",
+    "Operate the square gray switch panel with the right arm",
+    "Engage the right arm to press the switch with rectangular raised area",
+    "Deploy the right arm to press the switch with smooth light gray finish",
+    "Tap the smooth gray switch to engage it",
+    "Engage the small square switch using the right arm.",
+    "Activate the small square switch made of plastic via the right arm",
+    "Initiate the palm-sized light gray switch by clicking",
+    "Press the angled-edge gray square switch using the right arm.",
+    "Operate the right arm to engage the palm-sized light gray switch",
+    "Press the light gray plastic switch carefully with the right arm",
+    "Trigger the small square switch made of plastic using the right arm",
+    "Click the light gray plastic switch with robotic precision",
+    "Locate and press the square gray switch panel",
+    "Press the flat square with raised center via automation",
+    "Use the right arm to engage the palm-sized light gray switch",
+    "Activate the square switch with smooth surface by pressing it",
+    "Switch the switch for electrical control to its active state",
+    "Direct the right arm to operate the small square switch",
+    "Set the switch at the switch with smooth light gray finish",
+    "Activate the palm-sized light gray switch directly",
+    "Click the small square switch made of plastic to activate it",
+    "Locate and press the palm-sized light gray switch",
+    "Move to the switch with rectangular raised area and click it.",
+    "Use the right arm to interact with the switch with smooth light gray finish",
+    "Click on the switch with rectangular raised area precisely",
+    "Click the switch with rectangular raised area directly.",
+    "Engage the switch with smooth light gray finish using the robotic arm",
+    "Engage the light gray plastic switch using the right arm",
+    "Toggle the light gray plastic switch with the right arm.",
+    "Engage with the switch for electrical control manually",
+    "Press the palm-sized light gray switch with the right arm",
+    "Engage the switch with rectangular raised area with a press.",
+    "Command the right arm to engage the small square switch",
+    "Press the switch for electrical control using robotic control",
+    "Approach and tap the small square switch via the right arm",
+    "Click the switch for electrical control using automated tools",
+    "Activate the switch with smooth light gray finish with the right arm.",
+    "Activate the the square switch with smooth surface using the right arm",
+    "Push the switch with smooth light gray finish via the right arm.",
+    "Set the right arm to press the small square switch",
+    "Interact with the smooth gray switch directly",
+    "Directly interact with the flat square with raised center",
+    "Deploy the right arm to operate the light gray plastic switch",
+    "Trigger the switch with rectangular raised area without referencing the right arm",
+    "Interact with the flat square with raised center.",
+    "Activate the square switch with smooth surface with robotic precision",
+    "Trigger the small square switch with precision",
+    "Press the angled-edge gray square switch directly",
+    "Press the switch with smooth light gray finish to activate.",
+    "Use the right arm for switching the smooth gray switch",
+    "Operate the switch for electrical control with the right arm",
+    "Engage the right arm to press the smooth gray switch",
+    "Deploy the right arm to press the switch with rectangular raised area",
+    "Tap the palm-sized light gray switch to engage it",
+    "Engage the square gray switch panel using the right arm.",
+    "Activate the switch with rectangular raised area via the right arm",
+    "Initiate the light gray plastic switch by clicking",
+    "Press the square gray switch panel using the right arm.",
+    "Operate the right arm to engage the palm-sized light gray switch",
+    "Press the small square switch carefully with the right arm",
+    "Trigger the square switch with smooth surface using the right arm",
+    "Click the small square switch made of plastic with robotic precision",
+    "Locate and press the palm-sized light gray switch",
+    "Press the square gray switch panel via automation",
+    "Use the right arm to engage the small square switch",
+    "Activate the switch with rectangular raised area by pressing it",
+    "Switch the square gray switch panel to its active state",
+    "Direct the right arm to operate the square switch with smooth surface",
+    "Set the switch at the angled-edge gray square switch",
+    "Activate the palm-sized light gray switch directly",
+    "Click the angled-edge gray square switch to activate it",
+    "Locate and press the palm-sized light gray switch",
+    "Move to the switch for electrical control and click it.",
+    "Use the right arm to interact with the square switch with smooth surface",
+    "Click on the square switch with smooth surface precisely",
+    "Click the light gray plastic switch directly.",
+    "Engage the palm-sized light gray switch using the robotic arm",
+    "Engage the switch with rectangular raised area using the right arm",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Engage with the small square switch manually",
+    "Press the light gray plastic switch with the right arm",
+    "Engage the light gray plastic switch with a press.",
+    "Command the right arm to engage the switch with rectangular raised area",
+    "Press the switch with rectangular raised area using robotic control",
+    "Approach and tap the square gray switch panel via the right arm",
+    "Click the light gray plastic switch using automated tools",
+    "Activate the switch with rectangular raised area with the right arm.",
+    "Activate the the switch with rectangular raised area using the right arm",
+    "Push the small square switch via the right arm.",
+    "Set the right arm to press the small square switch",
+    "Interact with the smooth gray switch directly"
+  ],
+  "unseen": [
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the gray switch with slanted sides with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Press the flat gray switch using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the switch with angled edges with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Direct the right arm to click the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the right arm to press the switch with angled edges",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Click the flat gray switch with the right arm",
+    "Press the gray switch with slanted sides using the right arm",
+    "Move and click the the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the flat gray switch",
+    "Click the flat gray switch with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the flat gray switch with the right arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Direct the right arm to click the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Press the switch with angled edges using the right arm",
+    "Move and click the the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode482.json b/turn_switch/piper_randomized_500/instructions/episode482.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ba1f8841de22a73502a4ec1595030f815300e7
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode482.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the electric toggle switch carefully with the left arm",
+    "Engage the gray plastic switch using the left arm.",
+    "Directly interact with the handheld switch",
+    "Engage with the plastic switch with matte buttons manually",
+    "Deploy the left arm to press the gray base with black buttons",
+    "Activate the two-button gray switch with robotic precision",
+    "Click the gray switch with black buttons using automated tools",
+    "Press the plastic switch with matte buttons directly",
+    "Interact with the electric toggle switch directly",
+    "Click the electric toggle switch with robotic precision",
+    "Command the left arm to engage the switch with trapezoidal base",
+    "Press the smooth gray switch to activate.",
+    "Deploy the left arm to operate the handheld switch",
+    "Press the electric toggle switch with the left arm",
+    "Use the left arm to interact with the gray switch with black buttons",
+    "Direct the left arm to operate the two-button gray switch",
+    "Engage the gray switch with black buttons using the left arm",
+    "Click the switch with trapezoidal base directly.",
+    "Trigger the handheld switch without referencing the left arm",
+    "Interact with the medium switch with trapezoidal base.",
+    "Switch the switch with trapezoidal base to its active state",
+    "Set the switch at the smooth gray switch",
+    "Move to the gray smooth surface switch and click it.",
+    "Engage the trapezoidal base switch with a press.",
+    "Trigger the two-button gray switch using the left arm",
+    "Activate the switch with trapezoidal base with the left arm.",
+    "Press the gray base with black buttons using robotic control",
+    "Toggle the gray switch with black buttons with the left arm.",
+    "Approach and tap the handheld switch via the left arm",
+    "Activate the the handheld switch using the left arm",
+    "Set the left arm to press the gray plastic switch",
+    "Locate and press the two-button gray switch",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Operate the medium switch with trapezoidal base with the left arm",
+    "Tap the medium switch with trapezoidal base to engage it",
+    "Press the switch with trapezoidal base using the left arm.",
+    "Locate and press the medium switch with trapezoidal base",
+    "Press the gray smooth surface switch via automation",
+    "Initiate the two-button gray switch by clicking",
+    "Use the left arm for switching the gray base with black buttons",
+    "Use the left arm to engage the gray plastic switch",
+    "Push the gray switch with black buttons via the left arm.",
+    "Click the handheld switch to activate it",
+    "Operate the left arm to engage the gray smooth surface switch",
+    "Activate the trapezoidal base switch directly",
+    "Engage the left arm to press the gray base with black buttons",
+    "Click on the gray plastic switch precisely",
+    "Activate the two-button gray switch by pressing it",
+    "Activate the trapezoidal base switch via the left arm",
+    "Engage the trapezoidal base switch using the robotic arm",
+    "Press the gray smooth surface switch carefully with the left arm",
+    "Engage the gray switch with black buttons using the left arm.",
+    "Directly interact with the two-button gray switch",
+    "Engage with the plastic switch with matte buttons manually",
+    "Deploy the left arm to press the handheld switch",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Click the smooth gray switch using automated tools",
+    "Press the gray switch with black buttons directly",
+    "Interact with the two-button gray switch directly",
+    "Click the gray plastic switch with robotic precision",
+    "Command the left arm to engage the gray smooth surface switch",
+    "Press the gray switch with black buttons to activate.",
+    "Deploy the left arm to operate the gray plastic switch",
+    "Press the gray plastic switch with the left arm",
+    "Use the left arm to interact with the gray switch with black buttons",
+    "Direct the left arm to operate the gray plastic switch",
+    "Engage the switch with trapezoidal base using the left arm",
+    "Click the gray switch with black buttons directly.",
+    "Trigger the gray plastic switch without referencing the left arm",
+    "Interact with the smooth gray switch.",
+    "Switch the two-button gray switch to its active state",
+    "Set the switch at the medium switch with trapezoidal base",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Engage the trapezoidal base switch with a press.",
+    "Trigger the handheld switch using the left arm",
+    "Activate the smooth gray switch with the left arm.",
+    "Press the switch with trapezoidal base using robotic control",
+    "Toggle the smooth gray switch with the left arm.",
+    "Approach and tap the electric toggle switch via the left arm",
+    "Activate the the gray switch with black buttons using the left arm",
+    "Set the left arm to press the two-button gray switch",
+    "Locate and press the medium switch with trapezoidal base",
+    "Trigger the medium switch with trapezoidal base with precision",
+    "Operate the gray switch with black buttons with the left arm",
+    "Tap the switch with trapezoidal base to engage it",
+    "Press the two-button gray switch using the left arm.",
+    "Locate and press the handheld switch",
+    "Press the handheld switch via automation",
+    "Initiate the gray smooth surface switch by clicking",
+    "Use the left arm for switching the gray plastic switch",
+    "Use the left arm to engage the electric toggle switch",
+    "Push the switch with trapezoidal base via the left arm.",
+    "Click the trapezoidal base switch to activate it",
+    "Operate the left arm to engage the medium switch with trapezoidal base",
+    "Activate the smooth gray switch directly",
+    "Engage the left arm to press the two-button gray switch",
+    "Click on the gray switch with black buttons precisely",
+    "Activate the trapezoidal base switch by pressing it",
+    "Activate the trapezoidal base switch via the left arm",
+    "Engage the switch with trapezoidal base using the robotic arm"
+  ],
+  "unseen": [
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch",
+    "Press the gray switch using the left arm",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch",
+    "Press the gray switch medium size using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the gray switch medium size with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Click the switch with circular black buttons with the left arm.",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the switch with circular black buttons",
+    "Activate the switch at the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch medium size",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the gray switch medium size",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Click the gray switch with the left arm.",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons",
+    "Press the switch with circular black buttons using the left arm",
+    "Move and click the the gray switch",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode483.json b/turn_switch/piper_randomized_500/instructions/episode483.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9405ae2abeb106fcdbc4c7e98e7ee2a6b58506
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode483.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the small light tan switch by clicking",
+    "Press the hand-sized switch tan smooth finish with the right arm",
+    "Set the switch at the small light tan switch",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Engage the rectangular switch with slanted sides using the right arm",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Activate the the hand-sized switch tan smooth finish using the right arm",
+    "Command the right arm to engage the rectangular switch with slanted sides",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Engage the trapezoid-shaped switch smooth surface with a press.",
+    "Deploy the right arm to press the tan switch",
+    "Press the angled switch light tan color using robotic control",
+    "Tap the plastic switch with angled edges to engage it",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Trigger the tan switch with precision",
+    "Press the flat switch via automation",
+    "Locate and press the small light tan switch",
+    "Use the right arm for switching the angled switch light tan color",
+    "Trigger the angled switch light tan color using the right arm",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Direct the right arm to operate the flat switch",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Press the light tan rectangular switch smooth finish directly",
+    "Set the right arm to press the angled switch light tan color",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Use the right arm to engage the angled switch light tan color",
+    "Interact with the rectangular switch with slanted sides directly",
+    "Toggle the switch with darker rectangle with the right arm.",
+    "Activate the small light tan switch with robotic precision",
+    "Activate the tan switch with the right arm.",
+    "Press the plastic switch with angled edges to activate.",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Activate the switch with darker rectangle via the right arm",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm.",
+    "Activate the angled switch light tan color by pressing it",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Press the flat switch using the right arm.",
+    "Activate the switch trapezoid shape brown marking directly",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Locate and press the switch with darker rectangle",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Interact with the plastic switch with angled edges.",
+    "Click the angled switch light tan color using automated tools",
+    "Engage with the trapezoid-shaped switch smooth surface manually",
+    "Click the angled switch light tan color to activate it",
+    "Use the right arm to interact with the smooth tan switch with textured sides",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Press the tan switch with the right arm",
+    "Set the switch at the tan switch",
+    "Click on the flat switch precisely",
+    "Engage the light tan rectangular switch smooth finish using the right arm",
+    "Click the switch with darker rectangle with robotic precision",
+    "Activate the the light tan rectangular switch smooth finish using the right arm",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Press the flat switch using robotic control",
+    "Tap the small light tan switch to engage it",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Press the switch trapezoid shape brown marking via automation",
+    "Locate and press the angled switch light tan color",
+    "Use the right arm for switching the rectangular switch with slanted sides",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Direct the right arm to operate the plastic switch with angled edges",
+    "Engage the smooth tan switch with textured sides using the robotic arm",
+    "Press the switch trapezoid shape brown marking directly",
+    "Set the right arm to press the small light tan switch",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Interact with the switch with darker rectangle directly",
+    "Toggle the switch trapezoid shape brown marking with the right arm.",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Activate the tan switch with the right arm.",
+    "Press the small light tan switch to activate.",
+    "Deploy the right arm to operate the smooth tan switch with textured sides",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Engage the right arm to press the small light tan switch",
+    "Activate the angled switch light tan color via the right arm",
+    "Switch the flat switch to its active state",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Engage the small light tan switch using the right arm.",
+    "Activate the plastic switch with angled edges by pressing it",
+    "Directly interact with the angled switch light tan color",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Activate the smooth tan switch with textured sides directly",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Locate and press the small light tan switch",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Interact with the smooth tan switch with textured sides.",
+    "Click the angled switch light tan color using automated tools",
+    "Engage with the rectangular switch with slanted sides manually",
+    "Click the small light tan switch to activate it",
+    "Use the right arm to interact with the switch trapezoid shape brown marking"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode484.json b/turn_switch/piper_randomized_500/instructions/episode484.json
new file mode 100644
index 0000000000000000000000000000000000000000..625c3eb798c614768c3092befe437af8f3acd3d1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode484.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the slanted-edge plastic black switch directly",
+    "Locate and press the compact rectangular black switch",
+    "Press the compact rectangular black switch using robotic control",
+    "Press the rectangular switch with smooth surface using the left arm.",
+    "Directly interact with the black rectangular control switch",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Activate the palm-sized black switch via the left arm",
+    "Set the left arm to press the slanted-edge plastic black switch",
+    "Click the control switch to activate it",
+    "Command the left arm to engage the slanted-edge plastic black switch",
+    "Click on the palm-sized black switch precisely",
+    "Move to the medium-sized black rectangular switch and click it.",
+    "Activate the black switch with matte coating with robotic precision",
+    "Approach and tap the black rectangular control switch via the left arm",
+    "Engage the sleek black rectangular switch with a press.",
+    "Engage the left arm to press the switch with slanted sides",
+    "Press the rectangular switch with smooth surface via automation",
+    "Engage the slanted-edge plastic black switch using the left arm",
+    "Press the black switch with matte coating to activate.",
+    "Deploy the left arm to operate the slanted-edge plastic black switch",
+    "Interact with the black switch with slim profile.",
+    "Tap the rectangular switch with smooth surface to engage it",
+    "Activate the black switch with the left arm.",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Push the medium-sized black rectangular switch via the left arm.",
+    "Deploy the left arm to press the palm-sized black switch",
+    "Activate the compact rectangular black switch by pressing it",
+    "Click the sleek black rectangular switch directly.",
+    "Locate and press the black switch",
+    "Set the switch at the compact rectangular black switch",
+    "Direct the left arm to operate the rectangular switch with smooth surface",
+    "Use the left arm for switching the medium-sized black rectangular switch",
+    "Initiate the black switch with matte coating by clicking",
+    "Use the left arm to engage the black switch",
+    "Activate the black switch with matte coating directly",
+    "Trigger the control switch using the left arm",
+    "Click the control switch with robotic precision",
+    "Operate the left arm to engage the black switch with matte coating",
+    "Operate the palm-sized black switch with the left arm",
+    "Engage with the palm-sized black switch manually",
+    "Press the black switch carefully with the left arm",
+    "Trigger the medium-sized black rectangular switch without referencing the left arm",
+    "Use the left arm to interact with the slanted-edge plastic black switch",
+    "Click the medium-sized black rectangular switch using automated tools",
+    "Activate the the compact rectangular black switch using the left arm",
+    "Engage the control switch using the left arm.",
+    "Press the switch with slanted sides directly",
+    "Switch the control switch to its active state",
+    "Press the compact rectangular black switch with the left arm",
+    "Toggle the compact rectangular black switch with the left arm.",
+    "Interact with the sleek black rectangular switch directly",
+    "Locate and press the palm-sized black switch",
+    "Press the black switch with slim profile using robotic control",
+    "Press the rectangular switch with smooth surface using the left arm.",
+    "Directly interact with the black switch with slim profile",
+    "Trigger the control switch with precision",
+    "Activate the black rectangular control switch via the left arm",
+    "Set the left arm to press the black switch with matte coating",
+    "Click the medium-sized black rectangular switch to activate it",
+    "Command the left arm to engage the control switch",
+    "Click on the black switch with matte coating precisely",
+    "Move to the black rectangular control switch and click it.",
+    "Activate the switch with slanted sides with robotic precision",
+    "Approach and tap the palm-sized black switch via the left arm",
+    "Engage the sleek black rectangular switch with a press.",
+    "Engage the left arm to press the medium-sized black rectangular switch",
+    "Press the black rectangular control switch via automation",
+    "Engage the compact rectangular black switch using the left arm",
+    "Press the switch with slanted sides to activate.",
+    "Deploy the left arm to operate the compact rectangular black switch",
+    "Interact with the palm-sized black switch.",
+    "Tap the control switch to engage it",
+    "Activate the rectangular switch with smooth surface with the left arm.",
+    "Engage the black switch with matte coating using the robotic arm",
+    "Push the slanted-edge plastic black switch via the left arm.",
+    "Deploy the left arm to press the compact rectangular black switch",
+    "Activate the black switch with slim profile by pressing it",
+    "Click the black switch with slim profile directly.",
+    "Locate and press the black switch with matte coating",
+    "Set the switch at the black switch",
+    "Direct the left arm to operate the black switch with slim profile",
+    "Use the left arm for switching the slanted-edge plastic black switch",
+    "Initiate the black switch by clicking",
+    "Use the left arm to engage the switch with slanted sides",
+    "Activate the black switch with slim profile directly",
+    "Trigger the sleek black rectangular switch using the left arm",
+    "Click the control switch with robotic precision",
+    "Operate the left arm to engage the rectangular switch with smooth surface",
+    "Operate the palm-sized black switch with the left arm",
+    "Engage with the sleek black rectangular switch manually",
+    "Press the switch with slanted sides carefully with the left arm",
+    "Trigger the medium-sized black rectangular switch without referencing the left arm",
+    "Use the left arm to interact with the medium-sized black rectangular switch",
+    "Click the black switch with matte coating using automated tools",
+    "Activate the the palm-sized black switch using the left arm",
+    "Engage the black switch using the left arm.",
+    "Press the black rectangular control switch directly",
+    "Switch the black switch to its active state",
+    "Press the switch with slanted sides with the left arm",
+    "Toggle the black switch with matte coating with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the smooth black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the rectangular black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the smooth black switch.",
+    "Click the rectangular black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Press the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the smooth black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the left arm.",
+    "Click the smooth black switch with the left arm",
+    "Move and click the the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the smooth black switch with the left arm",
+    "Press the matte black plastic switch using the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm.",
+    "Click the matte black plastic switch with the left arm",
+    "Move and click the the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the left arm to click the smooth black switch",
+    "Click the smooth black switch with the left arm",
+    "Press the rectangular black switch using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode485.json b/turn_switch/piper_randomized_500/instructions/episode485.json
new file mode 100644
index 0000000000000000000000000000000000000000..b186dd0db421b6ab067bfea9ab257e1a39cf83f1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode485.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the switch with smooth light gray finish via the right arm.",
+    "Initiate the smooth gray switch by clicking",
+    "Interact with the flat square with raised center.",
+    "Press the light gray plastic switch carefully with the right arm",
+    "Deploy the right arm to operate the angled-edge gray square switch",
+    "Click the switch with rectangular raised area to activate it",
+    "Click the small square switch made of plastic directly.",
+    "Set the right arm to press the square gray switch panel",
+    "Move to the switch for electrical control and click it.",
+    "Press the square gray switch panel using robotic control",
+    "Command the right arm to engage the square switch with smooth surface",
+    "Engage the small square switch using the right arm.",
+    "Engage the light gray plastic switch using the robotic arm",
+    "Engage the palm-sized light gray switch using the right arm",
+    "Deploy the right arm to press the smooth gray switch",
+    "Press the switch with smooth light gray finish using the right arm.",
+    "Locate and press the square switch with smooth surface",
+    "Approach and tap the small square switch made of plastic via the right arm",
+    "Click the flat square with raised center using automated tools",
+    "Press the square switch with smooth surface with the right arm",
+    "Activate the smooth gray switch directly",
+    "Operate the small square switch made of plastic with the right arm",
+    "Switch the square switch with smooth surface to its active state",
+    "Press the smooth gray switch via automation",
+    "Trigger the palm-sized light gray switch with precision",
+    "Use the right arm to interact with the switch with smooth light gray finish",
+    "Locate and press the small square switch",
+    "Toggle the palm-sized light gray switch with the right arm.",
+    "Activate the light gray plastic switch with robotic precision",
+    "Engage the angled-edge gray square switch with a press.",
+    "Operate the right arm to engage the light gray plastic switch",
+    "Engage with the palm-sized light gray switch manually",
+    "Activate the angled-edge gray square switch via the right arm",
+    "Direct the right arm to operate the switch with rectangular raised area",
+    "Press the light gray plastic switch directly",
+    "Directly interact with the flat square with raised center",
+    "Trigger the angled-edge gray square switch using the right arm",
+    "Engage the right arm to press the switch with smooth light gray finish",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Use the right arm for switching the small square switch made of plastic",
+    "Use the right arm to engage the light gray plastic switch",
+    "Click on the small square switch made of plastic precisely",
+    "Activate the the small square switch made of plastic using the right arm",
+    "Press the square switch with smooth surface to activate.",
+    "Tap the square switch with smooth surface to engage it",
+    "Click the small square switch with robotic precision",
+    "Trigger the switch with smooth light gray finish without referencing the right arm",
+    "Set the switch at the square switch with smooth surface",
+    "Interact with the small square switch directly",
+    "Activate the square gray switch panel with the right arm.",
+    "Push the switch with rectangular raised area via the right arm.",
+    "Initiate the angled-edge gray square switch by clicking",
+    "Interact with the small square switch.",
+    "Press the flat square with raised center carefully with the right arm",
+    "Deploy the right arm to operate the switch with smooth light gray finish",
+    "Click the square switch with smooth surface to activate it",
+    "Click the light gray plastic switch directly.",
+    "Set the right arm to press the flat square with raised center",
+    "Move to the switch with rectangular raised area and click it.",
+    "Press the flat square with raised center using robotic control",
+    "Command the right arm to engage the switch with smooth light gray finish",
+    "Engage the switch for electrical control using the right arm.",
+    "Engage the switch for electrical control using the robotic arm",
+    "Engage the switch with smooth light gray finish using the right arm",
+    "Deploy the right arm to press the palm-sized light gray switch",
+    "Press the palm-sized light gray switch using the right arm.",
+    "Locate and press the square gray switch panel",
+    "Approach and tap the switch with rectangular raised area via the right arm",
+    "Click the smooth gray switch using automated tools",
+    "Press the palm-sized light gray switch with the right arm",
+    "Activate the switch with rectangular raised area directly",
+    "Operate the flat square with raised center with the right arm",
+    "Switch the light gray plastic switch to its active state",
+    "Press the square gray switch panel via automation",
+    "Trigger the square gray switch panel with precision",
+    "Use the right arm to interact with the square switch with smooth surface",
+    "Locate and press the smooth gray switch",
+    "Toggle the palm-sized light gray switch with the right arm.",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Engage the switch for electrical control with a press.",
+    "Operate the right arm to engage the switch with smooth light gray finish",
+    "Engage with the switch for electrical control manually",
+    "Activate the small square switch via the right arm",
+    "Direct the right arm to operate the light gray plastic switch",
+    "Press the smooth gray switch directly",
+    "Directly interact with the square gray switch panel",
+    "Trigger the switch for electrical control using the right arm",
+    "Engage the right arm to press the small square switch",
+    "Activate the square switch with smooth surface by pressing it",
+    "Use the right arm for switching the switch with smooth light gray finish",
+    "Use the right arm to engage the square gray switch panel",
+    "Click on the palm-sized light gray switch precisely",
+    "Activate the the smooth gray switch using the right arm",
+    "Press the switch for electrical control to activate.",
+    "Tap the switch for electrical control to engage it",
+    "Click the angled-edge gray square switch with robotic precision",
+    "Trigger the palm-sized light gray switch without referencing the right arm",
+    "Set the switch at the square switch with smooth surface",
+    "Interact with the smooth gray switch directly",
+    "Activate the light gray plastic switch with the right arm."
+  ],
+  "unseen": [
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the switch with angled edges",
+    "Click the switch with angled edges with the right arm.",
+    "Click the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the right arm.",
+    "Click the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the flat gray switch with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the flat gray switch using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the switch with angled edges",
+    "Press the flat gray switch using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Move and click the the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the switch with angled edges",
+    "Activate the switch at the flat gray switch",
+    "Click the switch with angled edges with the right arm.",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Move and click the the switch with angled edges",
+    "Press the flat gray switch using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the switch with angled edges",
+    "Click the flat gray switch with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Use the right arm to press the flat gray switch",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm",
+    "Click the switch with angled edges with the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Move and click the the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm.",
+    "Click the switch with angled edges using the right arm",
+    "Click the flat gray switch with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode486.json b/turn_switch/piper_randomized_500/instructions/episode486.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8c661ab40683af5f252ff209d43e8042a4f79a
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode486.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch with thin red toggle directly",
+    "Use the left arm for switching the electrical switch with protruding toggle",
+    "Tap the toggle switch light gray base to engage it",
+    "Operate the left arm to engage the compact switch with flat base",
+    "Set the left arm to press the control switch with red lever",
+    "Switch the control switch with red lever to its active state",
+    "Press the square switch with red bar via automation",
+    "Engage the compact switch with flat base with a press.",
+    "Activate the square switch with red bar with the left arm.",
+    "Toggle the gray switch with red toggle with the left arm.",
+    "Click the switch directly.",
+    "Activate the electrical switch with protruding toggle via the left arm",
+    "Engage the switch with thin red toggle using the left arm.",
+    "Engage the left arm to press the red bar switch",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Click on the square switch with red bar precisely",
+    "Click the switch with thin red toggle to activate it",
+    "Operate the gray switch with red toggle with the left arm",
+    "Move to the switch and click it.",
+    "Set the switch at the compact switch with flat base",
+    "Trigger the control switch with red lever using the left arm",
+    "Click the control switch with red lever with robotic precision",
+    "Trigger the electrical switch with protruding toggle with precision",
+    "Initiate the compact switch with flat base by clicking",
+    "Direct the left arm to operate the light gray square switch",
+    "Command the left arm to engage the switch for electrical control",
+    "Engage with the switch for electrical control manually",
+    "Activate the the square switch with red bar using the left arm",
+    "Press the plastic gray body switch with the left arm",
+    "Press the compact switch with flat base using robotic control",
+    "Approach and tap the light gray square switch via the left arm",
+    "Use the left arm to engage the light gray square switch",
+    "Interact with the switch with thin red toggle.",
+    "Push the compact switch with flat base via the left arm.",
+    "Engage the plastic gray body switch using the robotic arm",
+    "Deploy the left arm to press the compact switch with flat base",
+    "Activate the switch by pressing it",
+    "Press the control switch with red lever using the left arm.",
+    "Press the switch carefully with the left arm",
+    "Locate and press the light gray square switch",
+    "Use the left arm to interact with the plastic gray body switch",
+    "Engage the switch using the left arm",
+    "Directly interact with the light gray square switch",
+    "Locate and press the toggle switch light gray base",
+    "Trigger the toggle switch light gray base without referencing the left arm",
+    "Activate the toggle switch light gray base directly",
+    "Click the control switch with red lever using automated tools",
+    "Press the square switch with red bar to activate.",
+    "Activate the toggle switch light gray base with robotic precision",
+    "Interact with the red bar switch directly",
+    "Press the red bar switch directly",
+    "Use the left arm for switching the toggle switch light gray base",
+    "Tap the plastic gray body switch to engage it",
+    "Operate the left arm to engage the gray switch with red toggle",
+    "Set the left arm to press the red bar switch",
+    "Switch the light gray square switch to its active state",
+    "Press the plastic gray body switch via automation",
+    "Engage the compact switch with flat base with a press.",
+    "Activate the plastic gray body switch with the left arm.",
+    "Toggle the plastic gray body switch with the left arm.",
+    "Click the compact switch with flat base directly.",
+    "Activate the control switch with red lever via the left arm",
+    "Engage the switch using the left arm.",
+    "Engage the left arm to press the control switch with red lever",
+    "Deploy the left arm to operate the compact switch with flat base",
+    "Click on the square switch with red bar precisely",
+    "Click the red bar switch to activate it",
+    "Operate the switch with thin red toggle with the left arm",
+    "Move to the control switch with red lever and click it.",
+    "Set the switch at the gray switch with red toggle",
+    "Trigger the light gray square switch using the left arm",
+    "Click the switch for electrical control with robotic precision",
+    "Trigger the electrical switch with protruding toggle with precision",
+    "Initiate the plastic gray body switch by clicking",
+    "Direct the left arm to operate the light gray square switch",
+    "Command the left arm to engage the light gray square switch",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Activate the the compact switch with flat base using the left arm",
+    "Press the plastic gray body switch with the left arm",
+    "Press the switch using robotic control",
+    "Approach and tap the switch with thin red toggle via the left arm",
+    "Use the left arm to engage the control switch with red lever",
+    "Interact with the square switch with red bar.",
+    "Push the toggle switch light gray base via the left arm.",
+    "Engage the electrical switch with protruding toggle using the robotic arm",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Activate the compact switch with flat base by pressing it",
+    "Press the switch using the left arm.",
+    "Press the switch for electrical control carefully with the left arm",
+    "Locate and press the compact switch with flat base",
+    "Use the left arm to interact with the gray switch with red toggle",
+    "Engage the electrical switch with protruding toggle using the left arm",
+    "Directly interact with the plastic gray body switch",
+    "Locate and press the compact switch with flat base",
+    "Trigger the compact switch with flat base without referencing the left arm",
+    "Activate the gray switch with red toggle directly",
+    "Click the gray switch with red toggle using automated tools",
+    "Press the switch for electrical control to activate.",
+    "Activate the switch with robotic precision",
+    "Interact with the toggle switch light gray base directly"
+  ],
+  "unseen": [
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the flat square gray switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Direct the left arm to click the smooth gray base switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode487.json b/turn_switch/piper_randomized_500/instructions/episode487.json
new file mode 100644
index 0000000000000000000000000000000000000000..74b4304ef037f681462ba6f33bd644904ceaedf9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode487.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the left arm to operate the small switch with red lever",
+    "Directly interact with the metal-pronged black switch",
+    "Move to the switch for turning circuits on off and click it.",
+    "Toggle the smooth red switch with labels with the left arm.",
+    "Click on the switch for turning circuits on off precisely",
+    "Engage with the toggle switch with black housing manually",
+    "Press the switch with three metal pins with the left arm",
+    "Switch the rectangular switch to its active state",
+    "Tap the toggle switch with black housing to engage it",
+    "Set the left arm to press the smooth red switch with labels",
+    "Activate the toggle switch with black housing with the left arm.",
+    "Click the tiny rectangular switch with robotic precision",
+    "Initiate the rectangular switch by clicking",
+    "Interact with the black base switch directly",
+    "Activate the metal-pronged black switch via the left arm",
+    "Click the switch for turning circuits on off using automated tools",
+    "Click the small switch with red lever directly.",
+    "Engage the black base switch using the left arm.",
+    "Activate the black base switch by pressing it",
+    "Press the rectangular switch using robotic control",
+    "Activate the the tiny rectangular switch using the left arm",
+    "Engage the switch with three metal pins using the left arm",
+    "Deploy the left arm to press the rectangular switch",
+    "Press the smooth red switch with labels carefully with the left arm",
+    "Press the small switch with red lever to activate.",
+    "Use the left arm to interact with the switch with three metal pins",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Direct the left arm to operate the two-tone red black switch",
+    "Trigger the small switch with red lever without referencing the left arm",
+    "Engage the left arm to press the tiny rectangular switch",
+    "Use the left arm for switching the rectangular switch",
+    "Press the red and black electrical switch via automation",
+    "Trigger the black base switch with precision",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Use the left arm to engage the rectangular switch",
+    "Press the tiny rectangular switch using the left arm.",
+    "Click the rectangular switch to activate it",
+    "Set the switch at the tiny rectangular switch",
+    "Operate the metal-pronged black switch with the left arm",
+    "Interact with the two-tone red black switch.",
+    "Command the left arm to engage the black base switch",
+    "Operate the left arm to engage the toggle switch with black housing",
+    "Activate the black base switch directly",
+    "Trigger the black base switch using the left arm",
+    "Locate and press the small switch with red lever",
+    "Approach and tap the two-tone red black switch via the left arm",
+    "Push the rectangular switch via the left arm.",
+    "Press the switch with three metal pins directly",
+    "Activate the small switch with red lever with robotic precision",
+    "Locate and press the rectangular switch",
+    "Deploy the left arm to operate the two-tone red black switch",
+    "Directly interact with the black base switch",
+    "Move to the toggle switch with black housing and click it.",
+    "Toggle the plastic switch with metal prongs with the left arm.",
+    "Click on the small switch with red lever precisely",
+    "Engage with the toggle switch with black housing manually",
+    "Press the switch for turning circuits on off with the left arm",
+    "Switch the switch for turning circuits on off to its active state",
+    "Tap the toggle switch with black housing to engage it",
+    "Set the left arm to press the tiny rectangular switch",
+    "Activate the tiny rectangular switch with the left arm.",
+    "Click the switch for turning circuits on off with robotic precision",
+    "Initiate the switch with three metal pins by clicking",
+    "Interact with the metal-pronged black switch directly",
+    "Activate the rectangular switch via the left arm",
+    "Click the toggle switch with black housing using automated tools",
+    "Click the metal-pronged black switch directly.",
+    "Engage the switch for turning circuits on off using the left arm.",
+    "Activate the two-tone red black switch by pressing it",
+    "Press the red and black electrical switch using robotic control",
+    "Activate the the toggle switch with black housing using the left arm",
+    "Engage the smooth red switch with labels using the left arm",
+    "Deploy the left arm to press the plastic switch with metal prongs",
+    "Press the red and black electrical switch carefully with the left arm",
+    "Press the smooth red switch with labels to activate.",
+    "Use the left arm to interact with the two-tone red black switch",
+    "Engage the small switch with red lever with a press.",
+    "Direct the left arm to operate the tiny rectangular switch",
+    "Trigger the toggle switch with black housing without referencing the left arm",
+    "Engage the left arm to press the small switch with red lever",
+    "Use the left arm for switching the switch with three metal pins",
+    "Press the switch with three metal pins via automation",
+    "Trigger the black base switch with precision",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Use the left arm to engage the two-tone red black switch",
+    "Press the switch with three metal pins using the left arm.",
+    "Click the black base switch to activate it",
+    "Set the switch at the small switch with red lever",
+    "Operate the switch for turning circuits on off with the left arm",
+    "Interact with the rectangular switch.",
+    "Command the left arm to engage the black base switch",
+    "Operate the left arm to engage the plastic switch with metal prongs",
+    "Activate the switch with three metal pins directly",
+    "Trigger the black base switch using the left arm",
+    "Locate and press the smooth red switch with labels",
+    "Approach and tap the switch with three metal pins via the left arm",
+    "Push the rectangular switch via the left arm.",
+    "Press the small switch with red lever directly",
+    "Activate the rectangular switch with robotic precision",
+    "Locate and press the switch for turning circuits on off"
+  ],
+  "unseen": [
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the red toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the left arm to press the curved toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Click the curved toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode489.json b/turn_switch/piper_randomized_500/instructions/episode489.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0654f625af01a195f1db087618aa162ce0854ea
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode489.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the the switch for electrical control using the left arm",
+    "Click the light gray square switch to activate it",
+    "Direct the left arm to operate the switch with thin red toggle",
+    "Click the gray switch with red toggle using automated tools",
+    "Use the left arm for switching the switch",
+    "Move to the toggle switch light gray base and click it.",
+    "Interact with the control switch with red lever.",
+    "Click on the switch for electrical control precisely",
+    "Push the gray switch with red toggle via the left arm.",
+    "Trigger the switch with thin red toggle without referencing the left arm",
+    "Activate the switch via the left arm",
+    "Locate and press the red bar switch",
+    "Engage the toggle switch light gray base using the robotic arm",
+    "Press the toggle switch light gray base using robotic control",
+    "Engage the left arm to press the switch",
+    "Press the electrical switch with protruding toggle with the left arm",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Interact with the plastic gray body switch directly",
+    "Activate the gray switch with red toggle directly",
+    "Approach and tap the gray switch with red toggle via the left arm",
+    "Deploy the left arm to press the control switch with red lever",
+    "Tap the light gray square switch to engage it",
+    "Engage the gray switch with red toggle with a press.",
+    "Set the switch at the plastic gray body switch",
+    "Press the toggle switch light gray base using the left arm.",
+    "Trigger the square switch with red bar with precision",
+    "Operate the light gray square switch with the left arm",
+    "Locate and press the light gray square switch",
+    "Trigger the control switch with red lever using the left arm",
+    "Engage with the switch for electrical control manually",
+    "Directly interact with the light gray square switch",
+    "Engage the control switch with red lever using the left arm.",
+    "Click the plastic gray body switch directly.",
+    "Engage the gray switch with red toggle using the left arm",
+    "Press the light gray square switch carefully with the left arm",
+    "Press the plastic gray body switch to activate.",
+    "Press the square switch with red bar directly",
+    "Set the left arm to press the electrical switch with protruding toggle",
+    "Use the left arm to interact with the gray switch with red toggle",
+    "Switch the switch to its active state",
+    "Activate the toggle switch light gray base with robotic precision",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Command the left arm to engage the electrical switch with protruding toggle",
+    "Press the light gray square switch via automation",
+    "Operate the left arm to engage the switch for electrical control",
+    "Toggle the control switch with red lever with the left arm.",
+    "Activate the switch with thin red toggle with the left arm.",
+    "Use the left arm to engage the plastic gray body switch",
+    "Initiate the switch by clicking",
+    "Click the control switch with red lever with robotic precision",
+    "Activate the the red bar switch using the left arm",
+    "Click the switch for electrical control to activate it",
+    "Direct the left arm to operate the light gray square switch",
+    "Click the switch using automated tools",
+    "Use the left arm for switching the light gray square switch",
+    "Move to the red bar switch and click it.",
+    "Interact with the switch for electrical control.",
+    "Click on the control switch with red lever precisely",
+    "Push the switch via the left arm.",
+    "Trigger the control switch with red lever without referencing the left arm",
+    "Activate the control switch with red lever via the left arm",
+    "Locate and press the switch with thin red toggle",
+    "Engage the red bar switch using the robotic arm",
+    "Press the control switch with red lever using robotic control",
+    "Engage the left arm to press the square switch with red bar",
+    "Press the toggle switch light gray base with the left arm",
+    "Deploy the left arm to operate the control switch with red lever",
+    "Interact with the electrical switch with protruding toggle directly",
+    "Activate the toggle switch light gray base directly",
+    "Approach and tap the electrical switch with protruding toggle via the left arm",
+    "Deploy the left arm to press the red bar switch",
+    "Tap the compact switch with flat base to engage it",
+    "Engage the control switch with red lever with a press.",
+    "Set the switch at the electrical switch with protruding toggle",
+    "Press the light gray square switch using the left arm.",
+    "Trigger the gray switch with red toggle with precision",
+    "Operate the electrical switch with protruding toggle with the left arm",
+    "Locate and press the red bar switch",
+    "Trigger the gray switch with red toggle using the left arm",
+    "Engage with the light gray square switch manually",
+    "Directly interact with the square switch with red bar",
+    "Engage the gray switch with red toggle using the left arm.",
+    "Click the switch directly.",
+    "Engage the square switch with red bar using the left arm",
+    "Press the square switch with red bar carefully with the left arm",
+    "Press the switch with thin red toggle to activate.",
+    "Press the gray switch with red toggle directly",
+    "Set the left arm to press the control switch with red lever",
+    "Use the left arm to interact with the square switch with red bar",
+    "Switch the switch with thin red toggle to its active state",
+    "Activate the red bar switch with robotic precision",
+    "Activate the switch for electrical control by pressing it",
+    "Command the left arm to engage the light gray square switch",
+    "Press the red bar switch via automation",
+    "Operate the left arm to engage the switch with thin red toggle",
+    "Toggle the square switch with red bar with the left arm.",
+    "Activate the light gray square switch with the left arm.",
+    "Use the left arm to engage the light gray square switch",
+    "Initiate the light gray square switch by clicking",
+    "Click the gray switch with red toggle with robotic precision"
+  ],
+  "unseen": [
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the flat square gray switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode49.json b/turn_switch/piper_randomized_500/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..3638d4d4228b945657430a317c821f97edc64c91
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the black base switch",
+    "Engage the red and black electrical switch with a press.",
+    "Directly interact with the red and black electrical switch",
+    "Push the switch with three metal pins via the right arm.",
+    "Deploy the right arm to press the small switch with red lever",
+    "Engage the black base switch using the robotic arm",
+    "Click the tiny rectangular switch using automated tools",
+    "Press the small switch with red lever to activate.",
+    "Direct the right arm to operate the black base switch",
+    "Press the smooth red switch with labels using the right arm.",
+    "Operate the tiny rectangular switch with the right arm",
+    "Engage with the small switch with red lever manually",
+    "Activate the switch with three metal pins with the right arm.",
+    "Activate the smooth red switch with labels by pressing it",
+    "Tap the plastic switch with metal prongs to engage it",
+    "Set the switch at the two-tone red black switch",
+    "Use the right arm for switching the two-tone red black switch",
+    "Trigger the tiny rectangular switch with precision",
+    "Switch the toggle switch with black housing to its active state",
+    "Press the rectangular switch via automation",
+    "Initiate the tiny rectangular switch by clicking",
+    "Press the plastic switch with metal prongs carefully with the right arm",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Click the switch for turning circuits on off directly.",
+    "Locate and press the metal-pronged black switch",
+    "Interact with the small switch with red lever directly",
+    "Activate the black base switch directly",
+    "Locate and press the red and black electrical switch",
+    "Deploy the right arm to operate the two-tone red black switch",
+    "Interact with the rectangular switch.",
+    "Press the smooth red switch with labels using robotic control",
+    "Click on the black base switch precisely",
+    "Engage the rectangular switch using the right arm.",
+    "Command the right arm to engage the smooth red switch with labels",
+    "Trigger the toggle switch with black housing without referencing the right arm",
+    "Set the right arm to press the black base switch",
+    "Press the red and black electrical switch directly",
+    "Toggle the metal-pronged black switch with the right arm.",
+    "Engage the switch for turning circuits on off using the right arm",
+    "Click the two-tone red black switch to activate it",
+    "Use the right arm to interact with the tiny rectangular switch",
+    "Use the right arm to engage the metal-pronged black switch",
+    "Trigger the metal-pronged black switch using the right arm",
+    "Activate the rectangular switch via the right arm",
+    "Press the small switch with red lever with the right arm",
+    "Click the smooth red switch with labels with robotic precision",
+    "Engage the right arm to press the tiny rectangular switch",
+    "Move to the metal-pronged black switch and click it.",
+    "Approach and tap the toggle switch with black housing via the right arm",
+    "Activate the the switch for turning circuits on off using the right arm",
+    "Operate the right arm to engage the plastic switch with metal prongs",
+    "Engage the small switch with red lever with a press.",
+    "Directly interact with the switch with three metal pins",
+    "Push the tiny rectangular switch via the right arm.",
+    "Deploy the right arm to press the red and black electrical switch",
+    "Engage the black base switch using the robotic arm",
+    "Click the black base switch using automated tools",
+    "Press the plastic switch with metal prongs to activate.",
+    "Direct the right arm to operate the toggle switch with black housing",
+    "Press the two-tone red black switch using the right arm.",
+    "Operate the two-tone red black switch with the right arm",
+    "Engage with the small switch with red lever manually",
+    "Activate the toggle switch with black housing with the right arm.",
+    "Activate the rectangular switch by pressing it",
+    "Tap the metal-pronged black switch to engage it",
+    "Set the switch at the small switch with red lever",
+    "Use the right arm for switching the switch with three metal pins",
+    "Trigger the rectangular switch with precision",
+    "Switch the two-tone red black switch to its active state",
+    "Press the smooth red switch with labels via automation",
+    "Initiate the metal-pronged black switch by clicking",
+    "Press the toggle switch with black housing carefully with the right arm",
+    "Activate the switch with three metal pins with robotic precision",
+    "Click the two-tone red black switch directly.",
+    "Locate and press the small switch with red lever",
+    "Interact with the metal-pronged black switch directly",
+    "Activate the two-tone red black switch directly",
+    "Locate and press the switch with three metal pins",
+    "Deploy the right arm to operate the plastic switch with metal prongs",
+    "Interact with the smooth red switch with labels.",
+    "Press the toggle switch with black housing using robotic control",
+    "Click on the small switch with red lever precisely",
+    "Engage the rectangular switch using the right arm.",
+    "Command the right arm to engage the rectangular switch",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Set the right arm to press the toggle switch with black housing",
+    "Press the small switch with red lever directly",
+    "Toggle the two-tone red black switch with the right arm.",
+    "Engage the smooth red switch with labels using the right arm",
+    "Click the switch for turning circuits on off to activate it",
+    "Use the right arm to interact with the two-tone red black switch",
+    "Use the right arm to engage the red and black electrical switch",
+    "Trigger the rectangular switch using the right arm",
+    "Activate the small switch with red lever via the right arm",
+    "Press the switch for turning circuits on off with the right arm",
+    "Click the tiny rectangular switch with robotic precision",
+    "Engage the right arm to press the red and black electrical switch",
+    "Move to the small switch with red lever and click it.",
+    "Approach and tap the smooth red switch with labels via the right arm",
+    "Activate the the toggle switch with black housing using the right arm"
+  ],
+  "unseen": [
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the red toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the red toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Direct the right arm to click the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Direct the right arm to click the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the red toggle switch."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode490.json b/turn_switch/piper_randomized_500/instructions/episode490.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9502392ebba4014382001db27c4039e9130a6d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode490.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Initiate the beige switch by clicking",
+    "Use the left arm to interact with the light plastic switch",
+    "Engage the tiny matte beige toggle switch using the left arm.",
+    "Trigger the switch with rectangular dark button using the left arm",
+    "Activate the switch with rectangular dark button by pressing it",
+    "Click the hand-sized light beige switch to activate it",
+    "Click on the tiny matte beige toggle switch precisely",
+    "Use the left arm to engage the toggle switch with brown rectangle button",
+    "Deploy the left arm to operate the matte beige switch with flat top",
+    "Switch the beige switch with smooth finish to its active state",
+    "Trigger the switch with brown button with precision",
+    "Directly interact with the switch with rectangular dark button",
+    "Click the small trapezoid switch directly.",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Activate the matte beige switch with flat top with robotic precision",
+    "Operate the left arm to engage the switch with brown button",
+    "Engage the toggle switch with brown rectangle button using the robotic arm",
+    "Press the tiny matte beige toggle switch using the left arm.",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Engage the light plastic switch with a press.",
+    "Press the switch with brown button directly",
+    "Use the left arm for switching the light-colored trapezoid-shaped plastic switch",
+    "Trigger the switch with rectangular dark button without referencing the left arm",
+    "Press the switch with brown button carefully with the left arm",
+    "Set the switch at the switch with a smooth top",
+    "Press the matte beige switch with flat top using robotic control",
+    "Locate and press the switch with rectangular dark button",
+    "Set the left arm to press the switch with brown button",
+    "Toggle the matte beige switch with flat top with the left arm.",
+    "Activate the the beige switch with smooth finish using the left arm",
+    "Command the left arm to engage the hand-sized light beige switch",
+    "Press the small trapezoid switch with the left arm",
+    "Activate the light-colored trapezoid-shaped plastic switch with the left arm.",
+    "Push the hand-sized light beige switch via the left arm.",
+    "Interact with the switch with rectangular dark button.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Click the hand-sized light beige switch using automated tools",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Operate the tiny matte beige toggle switch with the left arm",
+    "Tap the matte beige switch with flat top to engage it",
+    "Activate the matte beige switch with flat top via the left arm",
+    "Press the tiny matte beige toggle switch via automation",
+    "Press the hand-sized light beige switch to activate.",
+    "Click the hand-sized light beige switch with robotic precision",
+    "Deploy the left arm to press the hand-sized light beige switch",
+    "Activate the light-colored trapezoid-shaped plastic switch directly",
+    "Move to the hand-sized light beige switch and click it.",
+    "Direct the left arm to operate the beige switch",
+    "Engage the left arm to press the small trapezoid switch",
+    "Engage with the switch with a smooth top manually",
+    "Initiate the toggle switch with brown rectangle button by clicking",
+    "Use the left arm to interact with the small trapezoid switch",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Trigger the light plastic switch using the left arm",
+    "Activate the switch with a smooth top by pressing it",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Click on the switch with brown button precisely",
+    "Use the left arm to engage the beige switch",
+    "Deploy the left arm to operate the hand-sized light beige switch",
+    "Switch the switch with rectangular dark button to its active state",
+    "Trigger the hand-sized light beige switch with precision",
+    "Directly interact with the small trapezoid switch",
+    "Click the hand-sized light beige switch directly.",
+    "Approach and tap the matte beige switch with flat top via the left arm",
+    "Activate the tiny matte beige toggle switch with robotic precision",
+    "Operate the left arm to engage the hand-sized light beige switch",
+    "Engage the beige switch with smooth finish using the robotic arm",
+    "Press the small trapezoid switch using the left arm.",
+    "Interact with the small trapezoid switch directly",
+    "Engage the beige switch with smooth finish with a press.",
+    "Press the tiny matte beige toggle switch directly",
+    "Use the left arm for switching the tiny matte beige toggle switch",
+    "Trigger the switch with brown button without referencing the left arm",
+    "Press the hand-sized light beige switch carefully with the left arm",
+    "Set the switch at the small trapezoid switch",
+    "Press the light plastic switch using robotic control",
+    "Locate and press the switch with rectangular dark button",
+    "Set the left arm to press the small trapezoid switch",
+    "Toggle the hand-sized light beige switch with the left arm.",
+    "Activate the the light plastic switch using the left arm",
+    "Command the left arm to engage the matte beige switch with flat top",
+    "Press the light-colored trapezoid-shaped plastic switch with the left arm",
+    "Activate the light plastic switch with the left arm.",
+    "Push the small trapezoid switch via the left arm.",
+    "Interact with the light-colored trapezoid-shaped plastic switch.",
+    "Engage the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Click the beige switch using automated tools",
+    "Locate and press the switch with rectangular dark button",
+    "Operate the switch with rectangular dark button with the left arm",
+    "Tap the small trapezoid switch to engage it",
+    "Activate the switch with brown button via the left arm",
+    "Press the matte beige switch with flat top via automation",
+    "Press the hand-sized light beige switch to activate.",
+    "Click the beige switch with smooth finish with robotic precision",
+    "Deploy the left arm to press the beige switch",
+    "Activate the switch with rectangular dark button directly",
+    "Move to the switch with a smooth top and click it.",
+    "Direct the left arm to operate the small trapezoid switch",
+    "Engage the left arm to press the matte beige switch with flat top",
+    "Engage with the light plastic switch manually"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Move and click the the beige switch with darker brown top",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode492.json b/turn_switch/piper_randomized_500/instructions/episode492.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b4abfb78ecd3c4dc17f538b3fbd9ed1be21b27
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode492.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the light gray plastic switch directly",
+    "Switch the flat square with raised center to its active state",
+    "Locate and press the smooth gray switch",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Deploy the right arm to press the light gray plastic switch",
+    "Activate the square gray switch panel with the right arm.",
+    "Click the switch for electrical control with robotic precision",
+    "Click the angled-edge gray square switch to activate it",
+    "Set the right arm to press the switch for electrical control",
+    "Use the right arm to interact with the switch for electrical control",
+    "Set the switch at the palm-sized light gray switch",
+    "Click the small square switch directly.",
+    "Push the flat square with raised center via the right arm.",
+    "Trigger the angled-edge gray square switch without referencing the right arm",
+    "Move to the switch with smooth light gray finish and click it.",
+    "Use the right arm to engage the smooth gray switch",
+    "Activate the switch with smooth light gray finish via the right arm",
+    "Use the right arm for switching the angled-edge gray square switch",
+    "Engage the square switch with smooth surface using the robotic arm",
+    "Click on the flat square with raised center precisely",
+    "Tap the switch for electrical control to engage it",
+    "Press the switch with rectangular raised area via automation",
+    "Activate the small square switch made of plastic with robotic precision",
+    "Press the small square switch to activate.",
+    "Initiate the switch with rectangular raised area by clicking",
+    "Trigger the flat square with raised center using the right arm",
+    "Engage the angled-edge gray square switch using the right arm.",
+    "Press the small square switch made of plastic using the right arm.",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Press the flat square with raised center directly",
+    "Directly interact with the light gray plastic switch",
+    "Interact with the switch for electrical control.",
+    "Command the right arm to engage the switch with smooth light gray finish",
+    "Operate the square gray switch panel with the right arm",
+    "Approach and tap the palm-sized light gray switch via the right arm",
+    "Engage the right arm to press the small square switch",
+    "Activate the the square switch with smooth surface using the right arm",
+    "Press the palm-sized light gray switch with the right arm",
+    "Deploy the right arm to operate the switch with rectangular raised area",
+    "Trigger the small square switch with precision",
+    "Operate the right arm to engage the flat square with raised center",
+    "Press the palm-sized light gray switch using robotic control",
+    "Locate and press the smooth gray switch",
+    "Press the switch with rectangular raised area carefully with the right arm",
+    "Direct the right arm to operate the switch with smooth light gray finish",
+    "Engage the switch with smooth light gray finish using the right arm",
+    "Engage the small square switch made of plastic with a press.",
+    "Engage with the switch with rectangular raised area manually",
+    "Interact with the switch for electrical control directly",
+    "Click the switch with smooth light gray finish using automated tools",
+    "Activate the small square switch directly",
+    "Switch the switch with rectangular raised area to its active state",
+    "Locate and press the switch with rectangular raised area",
+    "Activate the switch for electrical control by pressing it",
+    "Deploy the right arm to press the square switch with smooth surface",
+    "Activate the square switch with smooth surface with the right arm.",
+    "Click the square switch with smooth surface with robotic precision",
+    "Click the smooth gray switch to activate it",
+    "Set the right arm to press the angled-edge gray square switch",
+    "Use the right arm to interact with the angled-edge gray square switch",
+    "Set the switch at the angled-edge gray square switch",
+    "Click the small square switch made of plastic directly.",
+    "Push the square gray switch panel via the right arm.",
+    "Trigger the square gray switch panel without referencing the right arm",
+    "Move to the flat square with raised center and click it.",
+    "Use the right arm to engage the switch for electrical control",
+    "Activate the flat square with raised center via the right arm",
+    "Use the right arm for switching the square gray switch panel",
+    "Engage the switch for electrical control using the robotic arm",
+    "Click on the flat square with raised center precisely",
+    "Tap the square switch with smooth surface to engage it",
+    "Press the switch with smooth light gray finish via automation",
+    "Activate the angled-edge gray square switch with robotic precision",
+    "Press the flat square with raised center to activate.",
+    "Initiate the square switch with smooth surface by clicking",
+    "Trigger the light gray plastic switch using the right arm",
+    "Engage the light gray plastic switch using the right arm.",
+    "Press the small square switch using the right arm.",
+    "Toggle the angled-edge gray square switch with the right arm.",
+    "Press the switch with smooth light gray finish directly",
+    "Directly interact with the palm-sized light gray switch",
+    "Interact with the palm-sized light gray switch.",
+    "Command the right arm to engage the flat square with raised center",
+    "Operate the switch for electrical control with the right arm",
+    "Approach and tap the smooth gray switch via the right arm",
+    "Engage the right arm to press the switch with rectangular raised area",
+    "Activate the the angled-edge gray square switch using the right arm",
+    "Press the switch with rectangular raised area with the right arm",
+    "Deploy the right arm to operate the small square switch",
+    "Trigger the switch for electrical control with precision",
+    "Operate the right arm to engage the smooth gray switch",
+    "Press the smooth gray switch using robotic control",
+    "Locate and press the switch with rectangular raised area",
+    "Press the light gray plastic switch carefully with the right arm",
+    "Direct the right arm to operate the angled-edge gray square switch",
+    "Engage the switch for electrical control using the right arm",
+    "Engage the square gray switch panel with a press.",
+    "Engage with the switch with rectangular raised area manually",
+    "Interact with the angled-edge gray square switch directly",
+    "Click the switch with smooth light gray finish using automated tools"
+  ],
+  "unseen": [
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Activate the switch at the flat gray switch",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the gray switch with slanted sides with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the flat gray switch using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the flat gray switch using the right arm",
+    "Use the right arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the switch with angled edges using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the flat gray switch",
+    "Move and click the the switch with angled edges",
+    "Click the flat gray switch with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the flat gray switch with the right arm",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the gray switch with slanted sides",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the gray switch with slanted sides",
+    "Press the gray switch with slanted sides using the right arm",
+    "Use the right arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the right arm",
+    "Activate the switch at the gray switch with slanted sides",
+    "Click the gray switch with slanted sides using the right arm",
+    "Click the flat gray switch with the right arm.",
+    "Use the right arm to press the switch with angled edges",
+    "Move and click the the flat gray switch",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the switch with angled edges",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the flat gray switch with the right arm",
+    "Activate the switch at the flat gray switch",
+    "Click the flat gray switch using the right arm",
+    "Click the switch with angled edges with the right arm.",
+    "Use the right arm to press the gray switch with slanted sides",
+    "Move and click the the switch with angled edges",
+    "Click the switch with angled edges with the right arm",
+    "Direct the right arm to click the flat gray switch",
+    "Press the switch with angled edges using the right arm",
+    "Use the right arm to press the switch with angled edges.",
+    "Click the switch with angled edges with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode494.json b/turn_switch/piper_randomized_500/instructions/episode494.json
new file mode 100644
index 0000000000000000000000000000000000000000..481c854f91f571cb24c196dee55f1df7f5505820
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode494.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Press the toggle switch with brown rectangle button with the left arm",
+    "Trigger the small trapezoid switch using the left arm",
+    "Click the small trapezoid switch to activate it",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Engage the beige switch with smooth finish using the left arm.",
+    "Press the switch with a smooth top via automation",
+    "Toggle the hand-sized light beige switch with the left arm.",
+    "Move to the switch with a smooth top and click it.",
+    "Approach and tap the hand-sized light beige switch via the left arm",
+    "Switch the hand-sized light beige switch to its active state",
+    "Interact with the beige switch directly",
+    "Press the hand-sized light beige switch directly",
+    "Trigger the light-colored trapezoid-shaped plastic switch without referencing the left arm",
+    "Deploy the left arm to press the tiny matte beige toggle switch",
+    "Use the left arm to interact with the tiny matte beige toggle switch",
+    "Engage the left arm to press the light plastic switch",
+    "Activate the beige switch by pressing it",
+    "Activate the hand-sized light beige switch via the left arm",
+    "Tap the light plastic switch to engage it",
+    "Operate the switch with rectangular dark button with the left arm",
+    "Initiate the small trapezoid switch by clicking",
+    "Trigger the beige switch with smooth finish with precision",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the left arm",
+    "Activate the light plastic switch with the left arm.",
+    "Set the left arm to press the switch with brown button",
+    "Press the beige switch with smooth finish using robotic control",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Engage with the beige switch manually",
+    "Direct the left arm to operate the switch with a smooth top",
+    "Use the left arm to engage the beige switch",
+    "Click the beige switch with smooth finish directly.",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Press the tiny matte beige toggle switch carefully with the left arm",
+    "Activate the beige switch with smooth finish directly",
+    "Press the light plastic switch using the left arm.",
+    "Push the light plastic switch via the left arm.",
+    "Interact with the matte beige switch with flat top.",
+    "Engage the matte beige switch with flat top using the left arm",
+    "Command the left arm to engage the switch with brown button",
+    "Directly interact with the beige switch",
+    "Use the left arm for switching the beige switch",
+    "Set the switch at the light-colored trapezoid-shaped plastic switch",
+    "Operate the left arm to engage the hand-sized light beige switch",
+    "Click on the switch with rectangular dark button precisely",
+    "Activate the light plastic switch with robotic precision",
+    "Click the switch with brown button using automated tools",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Click the matte beige switch with flat top with robotic precision",
+    "Deploy the left arm to operate the switch with a smooth top",
+    "Press the switch with rectangular dark button to activate.",
+    "Press the hand-sized light beige switch with the left arm",
+    "Trigger the switch with a smooth top using the left arm",
+    "Click the hand-sized light beige switch to activate it",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Engage the small trapezoid switch using the left arm.",
+    "Press the beige switch with smooth finish via automation",
+    "Toggle the switch with a smooth top with the left arm.",
+    "Move to the light plastic switch and click it.",
+    "Approach and tap the tiny matte beige toggle switch via the left arm",
+    "Switch the light plastic switch to its active state",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Press the small trapezoid switch directly",
+    "Trigger the small trapezoid switch without referencing the left arm",
+    "Deploy the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Use the left arm to interact with the small trapezoid switch",
+    "Engage the left arm to press the beige switch with smooth finish",
+    "Activate the matte beige switch with flat top by pressing it",
+    "Activate the beige switch via the left arm",
+    "Tap the small trapezoid switch to engage it",
+    "Operate the switch with a smooth top with the left arm",
+    "Initiate the switch with brown button by clicking",
+    "Trigger the toggle switch with brown rectangle button with precision",
+    "Activate the the switch with rectangular dark button using the left arm",
+    "Activate the switch with brown button with the left arm.",
+    "Set the left arm to press the light-colored trapezoid-shaped plastic switch",
+    "Press the small trapezoid switch using robotic control",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Engage with the beige switch with smooth finish manually",
+    "Direct the left arm to operate the beige switch",
+    "Use the left arm to engage the hand-sized light beige switch",
+    "Click the light-colored trapezoid-shaped plastic switch directly.",
+    "Engage the hand-sized light beige switch with a press.",
+    "Press the hand-sized light beige switch carefully with the left arm",
+    "Activate the toggle switch with brown rectangle button directly",
+    "Press the toggle switch with brown rectangle button using the left arm.",
+    "Push the toggle switch with brown rectangle button via the left arm.",
+    "Interact with the small trapezoid switch.",
+    "Engage the switch with brown button using the left arm",
+    "Command the left arm to engage the small trapezoid switch",
+    "Directly interact with the small trapezoid switch",
+    "Use the left arm for switching the beige switch",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Operate the left arm to engage the small trapezoid switch",
+    "Click on the hand-sized light beige switch precisely",
+    "Activate the switch with brown button with robotic precision",
+    "Click the switch with brown button using automated tools",
+    "Locate and press the light plastic switch",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Deploy the left arm to operate the small trapezoid switch"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Move and click the the small beige switch with angular sides",
+    "Direct the left arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm.",
+    "Use the left arm to press the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the left arm",
+    "Click the small beige switch with angular sides with the left arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the left arm",
+    "Click the rectangular button switch on beige base with the left arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm",
+    "Use the left arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top using the left arm",
+    "Move and click the the beige switch with darker brown top",
+    "Direct the left arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the left arm.",
+    "Use the left arm to press the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the left arm",
+    "Click the beige switch with darker brown top with the left arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the left arm",
+    "Use the left arm to press the rectangular button switch on beige base."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode498.json b/turn_switch/piper_randomized_500/instructions/episode498.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba32ef255ce5d23b3b595573f0e44fdc596c0416
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode498.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the flat switch with the right arm.",
+    "Engage the right arm to press the hand-sized switch tan smooth finish",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Click the small light tan switch with robotic precision",
+    "Command the right arm to engage the angled switch light tan color",
+    "Interact with the smooth tan switch with textured sides.",
+    "Move to the trapezoid-shaped switch smooth surface and click it.",
+    "Interact with the plastic switch with angled edges directly",
+    "Press the smooth tan switch with textured sides using the right arm.",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Press the trapezoid-shaped switch smooth surface using robotic control",
+    "Activate the smooth tan switch with textured sides directly",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Press the trapezoid-shaped switch smooth surface to activate.",
+    "Tap the tan switch to engage it",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Engage the small light tan switch using the robotic arm",
+    "Engage with the small light tan switch manually",
+    "Engage the light tan rectangular switch smooth finish using the right arm",
+    "Activate the the trapezoid-shaped switch smooth surface using the right arm",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Set the switch at the light tan rectangular switch smooth finish",
+    "Engage the angled switch light tan color with a press.",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Directly interact with the tan switch",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Toggle the trapezoid-shaped switch smooth surface with the right arm.",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Trigger the light tan rectangular switch smooth finish without referencing the right arm",
+    "Click the light tan rectangular switch smooth finish to activate it",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Deploy the right arm to press the smooth tan switch with textured sides",
+    "Locate and press the rectangular switch with slanted sides",
+    "Approach and tap the rectangular switch with slanted sides via the right arm",
+    "Direct the right arm to operate the rectangular switch with slanted sides",
+    "Operate the right arm to engage the small light tan switch",
+    "Deploy the right arm to operate the small light tan switch",
+    "Click on the switch with darker rectangle precisely",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Use the right arm for switching the small light tan switch",
+    "Switch the flat switch to its active state",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Set the right arm to press the angled switch light tan color",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Trigger the flat switch with precision",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Activate the trapezoid-shaped switch smooth surface with the right arm.",
+    "Engage the right arm to press the angled switch light tan color",
+    "Press the smooth tan switch with textured sides directly",
+    "Locate and press the plastic switch with angled edges",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Interact with the rectangular switch with slanted sides directly",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Use the right arm to engage the flat switch",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Activate the small light tan switch directly",
+    "Press the trapezoid-shaped switch smooth surface with the right arm",
+    "Click the plastic switch with angled edges using automated tools",
+    "Press the tan switch to activate.",
+    "Tap the angled switch light tan color to engage it",
+    "Activate the small light tan switch via the right arm",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Engage with the angled switch light tan color manually",
+    "Engage the angled switch light tan color using the right arm",
+    "Activate the the rectangular switch with slanted sides using the right arm",
+    "Engage the angled switch light tan color using the right arm.",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Engage the switch with darker rectangle with a press.",
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Directly interact with the tan switch",
+    "Push the light tan rectangular switch smooth finish via the right arm.",
+    "Toggle the flat switch with the right arm.",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Trigger the small light tan switch without referencing the right arm",
+    "Click the switch trapezoid shape brown marking to activate it",
+    "Use the right arm to interact with the switch trapezoid shape brown marking",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Approach and tap the switch trapezoid shape brown marking via the right arm",
+    "Direct the right arm to operate the switch with darker rectangle",
+    "Operate the right arm to engage the small light tan switch",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Click on the angled switch light tan color precisely",
+    "Press the rectangular switch with slanted sides via automation",
+    "Click the switch with darker rectangle directly.",
+    "Trigger the switch with darker rectangle using the right arm",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Set the right arm to press the flat switch",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Trigger the plastic switch with angled edges with precision",
+    "Initiate the angled switch light tan color by clicking"
+  ],
+  "unseen": [
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode499.json b/turn_switch/piper_randomized_500/instructions/episode499.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4ca6de7a9a6ba196aeffab020f359b4e3d6d7c
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode499.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to operate the electric toggle switch",
+    "Press the gray switch with black buttons using robotic control",
+    "Interact with the medium switch with trapezoidal base directly",
+    "Engage the electric toggle switch with a press.",
+    "Engage with the gray plastic switch manually",
+    "Initiate the medium switch with trapezoidal base by clicking",
+    "Engage the switch with trapezoidal base using the right arm",
+    "Use the right arm to engage the gray plastic switch",
+    "Set the right arm to press the two-button gray switch",
+    "Engage the handheld switch using the right arm.",
+    "Tap the gray base with black buttons to engage it",
+    "Use the right arm to interact with the smooth gray switch",
+    "Activate the trapezoidal base switch via the right arm",
+    "Press the two-button gray switch to activate.",
+    "Click the gray smooth surface switch with robotic precision",
+    "Move to the medium switch with trapezoidal base and click it.",
+    "Interact with the plastic switch with matte buttons.",
+    "Click the gray base with black buttons using automated tools",
+    "Trigger the gray base with black buttons using the right arm",
+    "Approach and tap the two-button gray switch via the right arm",
+    "Press the gray smooth surface switch via automation",
+    "Press the medium switch with trapezoidal base using the right arm.",
+    "Toggle the handheld switch with the right arm.",
+    "Press the plastic switch with matte buttons with the right arm",
+    "Trigger the trapezoidal base switch without referencing the right arm",
+    "Activate the plastic switch with matte buttons with the right arm.",
+    "Command the right arm to engage the gray plastic switch",
+    "Activate the trapezoidal base switch directly",
+    "Click the trapezoidal base switch to activate it",
+    "Directly interact with the medium switch with trapezoidal base",
+    "Deploy the right arm to press the gray switch with black buttons",
+    "Push the medium switch with trapezoidal base via the right arm.",
+    "Use the right arm for switching the gray plastic switch",
+    "Activate the handheld switch by pressing it",
+    "Click on the gray base with black buttons precisely",
+    "Locate and press the plastic switch with matte buttons",
+    "Locate and press the two-button gray switch",
+    "Switch the switch with trapezoidal base to its active state",
+    "Engage the gray smooth surface switch using the robotic arm",
+    "Operate the right arm to engage the medium switch with trapezoidal base",
+    "Operate the electric toggle switch with the right arm",
+    "Engage the right arm to press the plastic switch with matte buttons",
+    "Press the medium switch with trapezoidal base carefully with the right arm",
+    "Click the gray plastic switch directly.",
+    "Activate the the medium switch with trapezoidal base using the right arm",
+    "Trigger the two-button gray switch with precision",
+    "Activate the gray switch with black buttons with robotic precision",
+    "Deploy the right arm to operate the gray base with black buttons",
+    "Press the trapezoidal base switch directly",
+    "Set the switch at the gray smooth surface switch",
+    "Direct the right arm to operate the switch with trapezoidal base",
+    "Press the gray base with black buttons using robotic control",
+    "Interact with the gray smooth surface switch directly",
+    "Engage the gray plastic switch with a press.",
+    "Engage with the gray plastic switch manually",
+    "Initiate the gray switch with black buttons by clicking",
+    "Engage the gray base with black buttons using the right arm",
+    "Use the right arm to engage the plastic switch with matte buttons",
+    "Set the right arm to press the gray base with black buttons",
+    "Engage the two-button gray switch using the right arm.",
+    "Tap the plastic switch with matte buttons to engage it",
+    "Use the right arm to interact with the trapezoidal base switch",
+    "Activate the two-button gray switch via the right arm",
+    "Press the gray switch with black buttons to activate.",
+    "Click the trapezoidal base switch with robotic precision",
+    "Move to the two-button gray switch and click it.",
+    "Interact with the gray base with black buttons.",
+    "Click the gray switch with black buttons using automated tools",
+    "Trigger the gray plastic switch using the right arm",
+    "Approach and tap the switch with trapezoidal base via the right arm",
+    "Press the gray base with black buttons via automation",
+    "Press the smooth gray switch using the right arm.",
+    "Toggle the handheld switch with the right arm.",
+    "Press the gray smooth surface switch with the right arm",
+    "Trigger the gray plastic switch without referencing the right arm",
+    "Activate the smooth gray switch with the right arm.",
+    "Command the right arm to engage the gray plastic switch",
+    "Activate the gray plastic switch directly",
+    "Click the smooth gray switch to activate it",
+    "Directly interact with the electric toggle switch",
+    "Deploy the right arm to press the electric toggle switch",
+    "Push the medium switch with trapezoidal base via the right arm.",
+    "Use the right arm for switching the plastic switch with matte buttons",
+    "Activate the trapezoidal base switch by pressing it",
+    "Click on the gray switch with black buttons precisely",
+    "Locate and press the plastic switch with matte buttons",
+    "Locate and press the switch with trapezoidal base",
+    "Switch the trapezoidal base switch to its active state",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Operate the right arm to engage the smooth gray switch",
+    "Operate the gray switch with black buttons with the right arm",
+    "Engage the right arm to press the medium switch with trapezoidal base",
+    "Press the two-button gray switch carefully with the right arm",
+    "Click the trapezoidal base switch directly.",
+    "Activate the the gray base with black buttons using the right arm",
+    "Trigger the gray switch with black buttons with precision",
+    "Activate the gray plastic switch with robotic precision",
+    "Deploy the right arm to operate the electric toggle switch",
+    "Press the medium switch with trapezoidal base directly",
+    "Set the switch at the smooth gray switch"
+  ],
+  "unseen": [
+    "Click the switch with circular black buttons using the right arm",
+    "Click the switch with circular black buttons with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the switch with circular black buttons",
+    "Press the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Click the gray switch with the right arm",
+    "Click the gray switch with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch medium size using the right arm",
+    "Use the right arm to press the gray switch medium size.",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the switch with circular black buttons with the right arm",
+    "Activate the switch at the gray switch",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch medium size using the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch medium size",
+    "Press the switch with circular black buttons using the right arm",
+    "Use the right arm to press the gray switch.",
+    "Move and click the the gray switch",
+    "Click the gray switch using the right arm",
+    "Click the gray switch with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch medium size",
+    "Press the gray switch using the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons using the right arm",
+    "Click the gray switch with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the gray switch medium size",
+    "Direct the right arm to click the gray switch",
+    "Press the gray switch using the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the gray switch medium size with the right arm.",
+    "Click the gray switch with the right arm",
+    "Activate the switch at the gray switch medium size",
+    "Use the right arm to press the gray switch",
+    "Direct the right arm to click the gray switch medium size",
+    "Press the switch with circular black buttons using the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the gray switch",
+    "Click the switch with circular black buttons using the right arm",
+    "Click the gray switch medium size with the right arm",
+    "Click the switch with circular black buttons with the right arm.",
+    "Click the gray switch medium size with the right arm",
+    "Activate the switch at the switch with circular black buttons",
+    "Use the right arm to press the switch with circular black buttons",
+    "Direct the right arm to click the gray switch medium size",
+    "Press the switch with circular black buttons using the right arm",
+    "Use the right arm to press the switch with circular black buttons.",
+    "Move and click the the switch with circular black buttons"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode5.json b/turn_switch/piper_randomized_500/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cdd49c92e81aefbc02e6ab6ede6fa6ba0e7e98b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the switch with a smooth top via automation",
+    "Press the light-colored trapezoid-shaped plastic switch using robotic control",
+    "Activate the light plastic switch directly",
+    "Click the beige switch with smooth finish directly.",
+    "Activate the matte beige switch with flat top by pressing it",
+    "Switch the toggle switch with brown rectangle button to its active state",
+    "Press the beige switch directly",
+    "Click the toggle switch with brown rectangle button using automated tools",
+    "Use the right arm to engage the matte beige switch with flat top",
+    "Directly interact with the hand-sized light beige switch",
+    "Engage the hand-sized light beige switch using the right arm",
+    "Click the light plastic switch with robotic precision",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Click the beige switch with smooth finish to activate it",
+    "Engage the right arm to press the beige switch with smooth finish",
+    "Set the right arm to press the matte beige switch with flat top",
+    "Deploy the right arm to press the matte beige switch with flat top",
+    "Engage the beige switch using the robotic arm",
+    "Trigger the hand-sized light beige switch with precision",
+    "Press the matte beige switch with flat top using the right arm.",
+    "Interact with the beige switch directly",
+    "Engage with the light plastic switch manually",
+    "Direct the right arm to operate the tiny matte beige toggle switch",
+    "Press the small trapezoid switch with the right arm",
+    "Interact with the matte beige switch with flat top.",
+    "Trigger the hand-sized light beige switch using the right arm",
+    "Press the matte beige switch with flat top to activate.",
+    "Activate the the switch with a smooth top using the right arm",
+    "Operate the switch with brown button with the right arm",
+    "Locate and press the beige switch",
+    "Set the switch at the light-colored trapezoid-shaped plastic switch",
+    "Push the switch with a smooth top via the right arm.",
+    "Click on the switch with rectangular dark button precisely",
+    "Activate the tiny matte beige toggle switch via the right arm",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Tap the switch with a smooth top to engage it",
+    "Press the beige switch carefully with the right arm",
+    "Operate the right arm to engage the switch with a smooth top",
+    "Use the right arm to interact with the light plastic switch",
+    "Engage the switch with a smooth top with a press.",
+    "Use the right arm for switching the hand-sized light beige switch",
+    "Activate the beige switch with robotic precision",
+    "Command the right arm to engage the beige switch with smooth finish",
+    "Engage the switch with a smooth top using the right arm.",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Trigger the light-colored trapezoid-shaped plastic switch without referencing the right arm",
+    "Toggle the small trapezoid switch with the right arm.",
+    "Locate and press the beige switch",
+    "Deploy the right arm to operate the switch with a smooth top",
+    "Press the switch with a smooth top via automation",
+    "Press the switch with brown button using robotic control",
+    "Activate the matte beige switch with flat top directly",
+    "Click the toggle switch with brown rectangle button directly.",
+    "Activate the toggle switch with brown rectangle button by pressing it",
+    "Switch the tiny matte beige toggle switch to its active state",
+    "Press the switch with rectangular dark button directly",
+    "Click the beige switch using automated tools",
+    "Use the right arm to engage the beige switch with smooth finish",
+    "Directly interact with the light-colored trapezoid-shaped plastic switch",
+    "Engage the switch with rectangular dark button using the right arm",
+    "Click the beige switch with robotic precision",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Click the switch with a smooth top to activate it",
+    "Engage the right arm to press the light plastic switch",
+    "Set the right arm to press the hand-sized light beige switch",
+    "Deploy the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the switch with a smooth top using the robotic arm",
+    "Trigger the light-colored trapezoid-shaped plastic switch with precision",
+    "Press the switch with a smooth top using the right arm.",
+    "Interact with the switch with brown button directly",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Direct the right arm to operate the light plastic switch",
+    "Press the matte beige switch with flat top with the right arm",
+    "Interact with the light plastic switch.",
+    "Trigger the light plastic switch using the right arm",
+    "Press the toggle switch with brown rectangle button to activate.",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Operate the light plastic switch with the right arm",
+    "Locate and press the light-colored trapezoid-shaped plastic switch",
+    "Set the switch at the beige switch",
+    "Push the switch with a smooth top via the right arm.",
+    "Click on the switch with brown button precisely",
+    "Activate the matte beige switch with flat top via the right arm",
+    "Move to the beige switch and click it.",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Tap the light-colored trapezoid-shaped plastic switch to engage it",
+    "Press the hand-sized light beige switch carefully with the right arm",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Use the right arm to interact with the beige switch",
+    "Engage the matte beige switch with flat top with a press.",
+    "Use the right arm for switching the switch with brown button",
+    "Activate the beige switch with robotic precision",
+    "Command the right arm to engage the switch with a smooth top",
+    "Engage the beige switch using the right arm.",
+    "Approach and tap the hand-sized light beige switch via the right arm",
+    "Trigger the toggle switch with brown rectangle button without referencing the right arm",
+    "Toggle the switch with rectangular dark button with the right arm.",
+    "Locate and press the beige switch",
+    "Deploy the right arm to operate the light plastic switch"
+  ],
+  "unseen": [
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Direct the right arm to click the small beige switch with angular sides"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode50.json b/turn_switch/piper_randomized_500/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc66298e5f0afb66b3cb7e80eebc74b2a447c9b8
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the switch at the rectangular switch with slanted sides",
+    "Deploy the left arm to press the smooth tan switch with textured sides",
+    "Operate the left arm to engage the angled switch light tan color",
+    "Locate and press the rectangular switch with slanted sides",
+    "Toggle the switch trapezoid shape brown marking with the left arm.",
+    "Push the switch trapezoid shape brown marking via the left arm.",
+    "Direct the left arm to operate the switch trapezoid shape brown marking",
+    "Directly interact with the tan switch",
+    "Press the angled switch light tan color directly",
+    "Set the left arm to press the rectangular switch with slanted sides",
+    "Press the plastic switch with angled edges with the left arm",
+    "Engage the switch with darker rectangle with a press.",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Activate the switch with darker rectangle directly",
+    "Use the left arm to engage the flat switch",
+    "Click the rectangular switch with slanted sides to activate it",
+    "Press the smooth tan switch with textured sides via automation",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Click the switch trapezoid shape brown marking using automated tools",
+    "Press the switch with darker rectangle to activate.",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Engage the left arm to press the rectangular switch with slanted sides",
+    "Activate the plastic switch with angled edges via the left arm",
+    "Initiate the trapezoid-shaped switch smooth surface by clicking",
+    "Trigger the angled switch light tan color using the left arm",
+    "Press the flat switch carefully with the left arm",
+    "Move to the smooth tan switch with textured sides and click it.",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Use the left arm for switching the plastic switch with angled edges",
+    "Tap the angled switch light tan color to engage it",
+    "Interact with the tan switch directly",
+    "Activate the trapezoid-shaped switch smooth surface by pressing it",
+    "Operate the trapezoid-shaped switch smooth surface with the left arm",
+    "Engage the flat switch using the left arm.",
+    "Press the plastic switch with angled edges using robotic control",
+    "Activate the the small light tan switch using the left arm",
+    "Trigger the flat switch with precision",
+    "Approach and tap the rectangular switch with slanted sides via the left arm",
+    "Engage the trapezoid-shaped switch smooth surface using the left arm",
+    "Activate the smooth tan switch with textured sides with the left arm.",
+    "Command the left arm to engage the hand-sized switch tan smooth finish",
+    "Use the left arm to interact with the plastic switch with angled edges",
+    "Click the switch with darker rectangle directly.",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Click on the light tan rectangular switch smooth finish precisely",
+    "Click the switch trapezoid shape brown marking with robotic precision",
+    "Trigger the hand-sized switch tan smooth finish without referencing the left arm",
+    "Engage the hand-sized switch tan smooth finish using the robotic arm",
+    "Deploy the left arm to operate the rectangular switch with slanted sides",
+    "Set the switch at the small light tan switch",
+    "Deploy the left arm to press the rectangular switch with slanted sides",
+    "Operate the left arm to engage the angled switch light tan color",
+    "Locate and press the switch with darker rectangle",
+    "Toggle the smooth tan switch with textured sides with the left arm.",
+    "Push the small light tan switch via the left arm.",
+    "Direct the left arm to operate the switch with darker rectangle",
+    "Directly interact with the plastic switch with angled edges",
+    "Press the small light tan switch directly",
+    "Set the left arm to press the angled switch light tan color",
+    "Press the flat switch with the left arm",
+    "Engage the switch with darker rectangle with a press.",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Activate the flat switch directly",
+    "Use the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Press the angled switch light tan color via automation",
+    "Engage with the smooth tan switch with textured sides manually",
+    "Locate and press the small light tan switch",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Press the tan switch to activate.",
+    "Press the switch with darker rectangle using the left arm.",
+    "Engage the left arm to press the switch with darker rectangle",
+    "Activate the switch trapezoid shape brown marking via the left arm",
+    "Initiate the switch with darker rectangle by clicking",
+    "Trigger the light tan rectangular switch smooth finish using the left arm",
+    "Press the hand-sized switch tan smooth finish carefully with the left arm",
+    "Move to the light tan rectangular switch smooth finish and click it.",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Use the left arm for switching the smooth tan switch with textured sides",
+    "Tap the tan switch to engage it",
+    "Interact with the smooth tan switch with textured sides directly",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Operate the tan switch with the left arm",
+    "Engage the smooth tan switch with textured sides using the left arm.",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Activate the the tan switch using the left arm",
+    "Trigger the smooth tan switch with textured sides with precision",
+    "Approach and tap the plastic switch with angled edges via the left arm",
+    "Engage the smooth tan switch with textured sides using the left arm",
+    "Activate the smooth tan switch with textured sides with the left arm.",
+    "Command the left arm to engage the smooth tan switch with textured sides",
+    "Use the left arm to interact with the trapezoid-shaped switch smooth surface",
+    "Click the small light tan switch directly.",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Trigger the switch with darker rectangle without referencing the left arm",
+    "Engage the tan switch using the robotic arm",
+    "Deploy the left arm to operate the small light tan switch"
+  ],
+  "unseen": [
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Press the small flat switch tan top using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode52.json b/turn_switch/piper_randomized_500/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..3944cd79bdbdc3c6cddf845d55fe1b40a662277d
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to operate the switch for electrical control",
+    "Engage the switch with a press.",
+    "Click on the control switch with red lever precisely",
+    "Click the toggle switch light gray base directly.",
+    "Initiate the switch by clicking",
+    "Set the switch at the light gray square switch",
+    "Engage the right arm to press the square switch with red bar",
+    "Directly interact with the light gray square switch",
+    "Press the electrical switch with protruding toggle directly",
+    "Tap the toggle switch light gray base to engage it",
+    "Activate the gray switch with red toggle with the right arm.",
+    "Locate and press the compact switch with flat base",
+    "Approach and tap the square switch with red bar via the right arm",
+    "Click the gray switch with red toggle to activate it",
+    "Operate the right arm to engage the plastic gray body switch",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Press the gray switch with red toggle using robotic control",
+    "Activate the control switch with red lever via the right arm",
+    "Interact with the control switch with red lever.",
+    "Activate the red bar switch by pressing it",
+    "Click the plastic gray body switch with robotic precision",
+    "Click the toggle switch light gray base using automated tools",
+    "Trigger the light gray square switch with precision",
+    "Switch the compact switch with flat base to its active state",
+    "Operate the red bar switch with the right arm",
+    "Trigger the switch without referencing the right arm",
+    "Press the switch for electrical control via automation",
+    "Press the red bar switch with the right arm",
+    "Locate and press the plastic gray body switch",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Use the right arm to engage the gray switch with red toggle",
+    "Command the right arm to engage the electrical switch with protruding toggle",
+    "Activate the switch for electrical control directly",
+    "Move to the switch for electrical control and click it.",
+    "Deploy the right arm to press the switch with thin red toggle",
+    "Activate the the red bar switch using the right arm",
+    "Use the right arm to interact with the electrical switch with protruding toggle",
+    "Interact with the switch directly",
+    "Engage the control switch with red lever using the right arm",
+    "Toggle the gray switch with red toggle with the right arm.",
+    "Engage the switch for electrical control using the robotic arm",
+    "Use the right arm for switching the gray switch with red toggle",
+    "Engage the compact switch with flat base using the right arm.",
+    "Press the red bar switch using the right arm.",
+    "Push the plastic gray body switch via the right arm.",
+    "Press the electrical switch with protruding toggle carefully with the right arm",
+    "Set the right arm to press the toggle switch light gray base",
+    "Trigger the toggle switch light gray base using the right arm",
+    "Deploy the right arm to operate the switch",
+    "Activate the square switch with red bar with robotic precision",
+    "Direct the right arm to operate the switch for electrical control",
+    "Engage the light gray square switch with a press.",
+    "Click on the switch for electrical control precisely",
+    "Click the control switch with red lever directly.",
+    "Initiate the compact switch with flat base by clicking",
+    "Set the switch at the gray switch with red toggle",
+    "Engage the right arm to press the toggle switch light gray base",
+    "Directly interact with the switch",
+    "Press the compact switch with flat base directly",
+    "Tap the toggle switch light gray base to engage it",
+    "Activate the compact switch with flat base with the right arm.",
+    "Locate and press the switch",
+    "Approach and tap the switch with thin red toggle via the right arm",
+    "Click the control switch with red lever to activate it",
+    "Operate the right arm to engage the electrical switch with protruding toggle",
+    "Press the toggle switch light gray base to activate.",
+    "Press the control switch with red lever using robotic control",
+    "Activate the compact switch with flat base via the right arm",
+    "Interact with the switch.",
+    "Activate the red bar switch by pressing it",
+    "Click the switch with robotic precision",
+    "Click the red bar switch using automated tools",
+    "Trigger the electrical switch with protruding toggle with precision",
+    "Switch the electrical switch with protruding toggle to its active state",
+    "Operate the plastic gray body switch with the right arm",
+    "Trigger the compact switch with flat base without referencing the right arm",
+    "Press the red bar switch via automation",
+    "Press the switch with thin red toggle with the right arm",
+    "Locate and press the gray switch with red toggle",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Use the right arm to engage the square switch with red bar",
+    "Command the right arm to engage the switch for electrical control",
+    "Activate the toggle switch light gray base directly",
+    "Move to the light gray square switch and click it.",
+    "Deploy the right arm to press the electrical switch with protruding toggle",
+    "Activate the the plastic gray body switch using the right arm",
+    "Use the right arm to interact with the switch",
+    "Interact with the red bar switch directly",
+    "Engage the red bar switch using the right arm",
+    "Toggle the compact switch with flat base with the right arm.",
+    "Engage the square switch with red bar using the robotic arm",
+    "Use the right arm for switching the compact switch with flat base",
+    "Engage the toggle switch light gray base using the right arm.",
+    "Press the switch with thin red toggle using the right arm.",
+    "Push the toggle switch light gray base via the right arm.",
+    "Press the switch for electrical control carefully with the right arm",
+    "Set the right arm to press the red bar switch",
+    "Trigger the plastic gray body switch using the right arm",
+    "Deploy the right arm to operate the switch for electrical control",
+    "Activate the switch with thin red toggle with robotic precision"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the smooth gray base switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the smooth gray base switch using the right arm",
+    "Use the right arm to press the smooth gray base switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the flat square gray switch",
+    "Direct the right arm to click the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Use the right arm to press the flat square gray switch.",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Click the smooth gray base switch with the right arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the right arm to click the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Press the flat square gray switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch with the right arm",
+    "Activate the switch at the smooth gray base switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode53.json b/turn_switch/piper_randomized_500/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b584c17a63d5006b4da40ff4fbc1e8949acaa20
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the plastic gray body switch using automated tools",
+    "Engage the control switch with red lever using the left arm.",
+    "Operate the left arm to engage the light gray square switch",
+    "Switch the switch for electrical control to its active state",
+    "Deploy the left arm to operate the switch with thin red toggle",
+    "Press the square switch with red bar carefully with the left arm",
+    "Activate the compact switch with flat base with the left arm.",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Activate the the switch for electrical control using the left arm",
+    "Interact with the light gray square switch directly",
+    "Press the light gray square switch with the left arm",
+    "Engage the switch using the left arm",
+    "Engage the red bar switch with a press.",
+    "Click the plastic gray body switch directly.",
+    "Trigger the switch for electrical control using the left arm",
+    "Operate the control switch with red lever with the left arm",
+    "Initiate the compact switch with flat base by clicking",
+    "Command the left arm to engage the gray switch with red toggle",
+    "Press the toggle switch light gray base to activate.",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Click the switch for electrical control to activate it",
+    "Set the left arm to press the compact switch with flat base",
+    "Engage the switch with thin red toggle using the robotic arm",
+    "Trigger the plastic gray body switch with precision",
+    "Direct the left arm to operate the switch",
+    "Interact with the electrical switch with protruding toggle.",
+    "Tap the switch to engage it",
+    "Deploy the left arm to press the electrical switch with protruding toggle",
+    "Engage with the electrical switch with protruding toggle manually",
+    "Press the switch with thin red toggle using robotic control",
+    "Press the light gray square switch directly",
+    "Activate the red bar switch by pressing it",
+    "Set the switch at the gray switch with red toggle",
+    "Engage the left arm to press the gray switch with red toggle",
+    "Use the left arm for switching the compact switch with flat base",
+    "Directly interact with the switch for electrical control",
+    "Press the switch for electrical control using the left arm.",
+    "Activate the plastic gray body switch with robotic precision",
+    "Click the square switch with red bar with robotic precision",
+    "Use the left arm to engage the switch",
+    "Use the left arm to interact with the light gray square switch",
+    "Press the switch via automation",
+    "Move to the light gray square switch and click it.",
+    "Locate and press the switch with thin red toggle",
+    "Activate the switch with thin red toggle directly",
+    "Approach and tap the switch for electrical control via the left arm",
+    "Trigger the gray switch with red toggle without referencing the left arm",
+    "Activate the toggle switch light gray base via the left arm",
+    "Locate and press the switch for electrical control",
+    "Push the red bar switch via the left arm.",
+    "Click the control switch with red lever using automated tools",
+    "Engage the control switch with red lever using the left arm.",
+    "Operate the left arm to engage the switch for electrical control",
+    "Switch the square switch with red bar to its active state",
+    "Deploy the left arm to operate the plastic gray body switch",
+    "Press the red bar switch carefully with the left arm",
+    "Activate the compact switch with flat base with the left arm.",
+    "Toggle the red bar switch with the left arm.",
+    "Activate the the gray switch with red toggle using the left arm",
+    "Interact with the red bar switch directly",
+    "Press the control switch with red lever with the left arm",
+    "Engage the electrical switch with protruding toggle using the left arm",
+    "Engage the toggle switch light gray base with a press.",
+    "Click the switch with thin red toggle directly.",
+    "Trigger the compact switch with flat base using the left arm",
+    "Operate the electrical switch with protruding toggle with the left arm",
+    "Initiate the control switch with red lever by clicking",
+    "Command the left arm to engage the switch with thin red toggle",
+    "Press the toggle switch light gray base to activate.",
+    "Click on the control switch with red lever precisely",
+    "Click the switch to activate it",
+    "Set the left arm to press the square switch with red bar",
+    "Engage the switch for electrical control using the robotic arm",
+    "Trigger the light gray square switch with precision",
+    "Direct the left arm to operate the compact switch with flat base",
+    "Interact with the switch for electrical control.",
+    "Tap the light gray square switch to engage it",
+    "Deploy the left arm to press the square switch with red bar",
+    "Engage with the compact switch with flat base manually",
+    "Press the light gray square switch using robotic control",
+    "Press the control switch with red lever directly",
+    "Activate the electrical switch with protruding toggle by pressing it",
+    "Set the switch at the square switch with red bar",
+    "Engage the left arm to press the square switch with red bar",
+    "Use the left arm for switching the switch",
+    "Directly interact with the red bar switch",
+    "Press the square switch with red bar using the left arm.",
+    "Activate the plastic gray body switch with robotic precision",
+    "Click the switch for electrical control with robotic precision",
+    "Use the left arm to engage the control switch with red lever",
+    "Use the left arm to interact with the control switch with red lever",
+    "Press the switch with thin red toggle via automation",
+    "Move to the control switch with red lever and click it.",
+    "Locate and press the switch with thin red toggle",
+    "Activate the plastic gray body switch directly",
+    "Approach and tap the control switch with red lever via the left arm",
+    "Trigger the square switch with red bar without referencing the left arm",
+    "Activate the square switch with red bar via the left arm",
+    "Locate and press the switch for electrical control",
+    "Push the light gray square switch via the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch with the left arm.",
+    "Use the left arm to press the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Press the smooth gray base switch using the left arm",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch with the left arm.",
+    "Use the left arm to press the smooth gray base switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch.",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Press the flat square gray switch using the left arm",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode54.json b/turn_switch/piper_randomized_500/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..d297ae36feab5cb5cc2bfd97a825bbe93538cc7e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the tiny matte beige toggle switch directly",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Switch the toggle switch with brown rectangle button to its active state",
+    "Toggle the light plastic switch with the right arm.",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Locate and press the light plastic switch",
+    "Direct the right arm to operate the switch with a smooth top",
+    "Activate the the tiny matte beige toggle switch using the right arm",
+    "Press the switch with brown button using the right arm.",
+    "Activate the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Approach and tap the beige switch with smooth finish via the right arm",
+    "Interact with the switch with a smooth top directly",
+    "Engage the right arm to press the switch with brown button",
+    "Engage the switch with a smooth top using the right arm.",
+    "Use the right arm for switching the light-colored trapezoid-shaped plastic switch",
+    "Engage with the toggle switch with brown rectangle button manually",
+    "Move to the tiny matte beige toggle switch and click it.",
+    "Push the switch with rectangular dark button via the right arm.",
+    "Click the matte beige switch with flat top to activate it",
+    "Tap the light plastic switch to engage it",
+    "Initiate the light-colored trapezoid-shaped plastic switch by clicking",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Trigger the switch with brown button using the right arm",
+    "Press the beige switch to activate.",
+    "Click the switch with rectangular dark button directly.",
+    "Engage the light plastic switch with a press.",
+    "Activate the beige switch with smooth finish by pressing it",
+    "Trigger the hand-sized light beige switch with precision",
+    "Set the right arm to press the switch with rectangular dark button",
+    "Press the light plastic switch carefully with the right arm",
+    "Operate the right arm to engage the hand-sized light beige switch",
+    "Press the switch with a smooth top with the right arm",
+    "Use the right arm to interact with the small trapezoid switch",
+    "Deploy the right arm to press the light plastic switch",
+    "Directly interact with the switch with brown button",
+    "Interact with the switch with brown button.",
+    "Operate the hand-sized light beige switch with the right arm",
+    "Press the hand-sized light beige switch directly",
+    "Use the right arm to engage the beige switch with smooth finish",
+    "Click the small trapezoid switch using automated tools",
+    "Engage the beige switch using the robotic arm",
+    "Click the light plastic switch with robotic precision",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Activate the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Press the toggle switch with brown rectangle button using robotic control",
+    "Locate and press the toggle switch with brown rectangle button",
+    "Engage the toggle switch with brown rectangle button using the right arm",
+    "Press the small trapezoid switch via automation",
+    "Trigger the light plastic switch without referencing the right arm",
+    "Command the right arm to engage the tiny matte beige toggle switch",
+    "Activate the matte beige switch with flat top directly",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Switch the small trapezoid switch to its active state",
+    "Toggle the beige switch with smooth finish with the right arm.",
+    "Click on the switch with brown button precisely",
+    "Locate and press the small trapezoid switch",
+    "Direct the right arm to operate the beige switch",
+    "Activate the the switch with brown button using the right arm",
+    "Press the matte beige switch with flat top using the right arm.",
+    "Activate the switch with a smooth top with robotic precision",
+    "Approach and tap the hand-sized light beige switch via the right arm",
+    "Interact with the light-colored trapezoid-shaped plastic switch directly",
+    "Engage the right arm to press the switch with rectangular dark button",
+    "Engage the switch with rectangular dark button using the right arm.",
+    "Use the right arm for switching the switch with brown button",
+    "Engage with the hand-sized light beige switch manually",
+    "Move to the light plastic switch and click it.",
+    "Push the small trapezoid switch via the right arm.",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Tap the beige switch with smooth finish to engage it",
+    "Initiate the beige switch with smooth finish by clicking",
+    "Deploy the right arm to operate the tiny matte beige toggle switch",
+    "Trigger the beige switch with smooth finish using the right arm",
+    "Press the switch with brown button to activate.",
+    "Click the beige switch with smooth finish directly.",
+    "Engage the small trapezoid switch with a press.",
+    "Activate the matte beige switch with flat top by pressing it",
+    "Trigger the light plastic switch with precision",
+    "Set the right arm to press the switch with brown button",
+    "Press the switch with a smooth top carefully with the right arm",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Press the hand-sized light beige switch with the right arm",
+    "Use the right arm to interact with the beige switch",
+    "Deploy the right arm to press the switch with a smooth top",
+    "Directly interact with the beige switch",
+    "Interact with the matte beige switch with flat top.",
+    "Operate the tiny matte beige toggle switch with the right arm",
+    "Press the beige switch directly",
+    "Use the right arm to engage the light plastic switch",
+    "Click the light plastic switch using automated tools",
+    "Engage the matte beige switch with flat top using the robotic arm",
+    "Click the small trapezoid switch with robotic precision",
+    "Set the switch at the light plastic switch",
+    "Activate the beige switch via the right arm",
+    "Press the hand-sized light beige switch using robotic control",
+    "Locate and press the switch with rectangular dark button",
+    "Engage the small trapezoid switch using the right arm",
+    "Press the beige switch via automation",
+    "Trigger the beige switch without referencing the right arm",
+    "Command the right arm to engage the light-colored trapezoid-shaped plastic switch"
+  ],
+  "unseen": [
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Direct the right arm to click the beige switch with darker brown top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode55.json b/turn_switch/piper_randomized_500/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..5682b52d5c3e7be2038193d032263f6d45b0671e
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the flat switch with the right arm",
+    "Use the right arm to interact with the small light tan switch",
+    "Tap the small light tan switch to engage it",
+    "Activate the trapezoid-shaped switch smooth surface with robotic precision",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Engage with the hand-sized switch tan smooth finish manually",
+    "Engage the right arm to press the flat switch",
+    "Set the switch at the small light tan switch",
+    "Press the angled switch light tan color using robotic control",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Interact with the rectangular switch with slanted sides.",
+    "Press the trapezoid-shaped switch smooth surface with the right arm",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Press the rectangular switch with slanted sides via automation",
+    "Use the right arm to engage the hand-sized switch tan smooth finish",
+    "Activate the switch with darker rectangle directly",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Use the right arm for switching the light tan rectangular switch smooth finish",
+    "Toggle the smooth tan switch with textured sides with the right arm.",
+    "Trigger the tan switch without referencing the right arm",
+    "Activate the the light tan rectangular switch smooth finish using the right arm",
+    "Activate the small light tan switch by pressing it",
+    "Engage the switch trapezoid shape brown marking using the right arm.",
+    "Click on the tan switch precisely",
+    "Push the switch with darker rectangle via the right arm.",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Activate the tan switch via the right arm",
+    "Trigger the tan switch with precision",
+    "Locate and press the rectangular switch with slanted sides",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Engage the tan switch using the right arm",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Directly interact with the light tan rectangular switch smooth finish",
+    "Press the tan switch using the right arm.",
+    "Direct the right arm to operate the tan switch",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Activate the flat switch with the right arm.",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Initiate the angled switch light tan color by clicking",
+    "Command the right arm to engage the smooth tan switch with textured sides",
+    "Press the switch trapezoid shape brown marking directly",
+    "Move to the small light tan switch and click it.",
+    "Click the plastic switch with angled edges to activate it",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Switch the angled switch light tan color to its active state",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Click the small light tan switch with robotic precision",
+    "Operate the plastic switch with angled edges with the right arm",
+    "Use the right arm to interact with the plastic switch with angled edges",
+    "Tap the flat switch to engage it",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Locate and press the plastic switch with angled edges",
+    "Engage with the switch with darker rectangle manually",
+    "Engage the right arm to press the light tan rectangular switch smooth finish",
+    "Set the switch at the angled switch light tan color",
+    "Press the small light tan switch using robotic control",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Interact with the switch trapezoid shape brown marking.",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Press the angled switch light tan color via automation",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Activate the small light tan switch directly",
+    "Deploy the right arm to operate the small light tan switch",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Toggle the switch trapezoid shape brown marking with the right arm.",
+    "Trigger the tan switch without referencing the right arm",
+    "Activate the the tan switch using the right arm",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Engage the rectangular switch with slanted sides using the right arm.",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Interact with the tan switch directly",
+    "Activate the rectangular switch with slanted sides via the right arm",
+    "Trigger the tan switch with precision",
+    "Locate and press the plastic switch with angled edges",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Engage the switch trapezoid shape brown marking with a press.",
+    "Engage the tan switch using the robotic arm",
+    "Directly interact with the angled switch light tan color",
+    "Press the trapezoid-shaped switch smooth surface using the right arm.",
+    "Direct the right arm to operate the flat switch",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Activate the tan switch with the right arm.",
+    "Press the plastic switch with angled edges to activate.",
+    "Approach and tap the switch with darker rectangle via the right arm",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Command the right arm to engage the tan switch",
+    "Press the trapezoid-shaped switch smooth surface directly",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Deploy the right arm to press the flat switch",
+    "Click the hand-sized switch tan smooth finish with robotic precision"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the small flat switch tan top",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Press the small flat switch tan top using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode56.json b/turn_switch/piper_randomized_500/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a3e7cb84e476e769df6d0d6387cc7e26e7b255
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move to the small switch with red lever and click it.",
+    "Direct the right arm to operate the smooth red switch with labels",
+    "Engage with the tiny rectangular switch manually",
+    "Locate and press the two-tone red black switch",
+    "Click the metal-pronged black switch directly.",
+    "Deploy the right arm to press the plastic switch with metal prongs",
+    "Click the black base switch with robotic precision",
+    "Approach and tap the switch with three metal pins via the right arm",
+    "Activate the rectangular switch with robotic precision",
+    "Use the right arm for switching the tiny rectangular switch",
+    "Activate the tiny rectangular switch by pressing it",
+    "Press the plastic switch with metal prongs directly",
+    "Push the toggle switch with black housing via the right arm.",
+    "Use the right arm to interact with the rectangular switch",
+    "Set the switch at the small switch with red lever",
+    "Engage the metal-pronged black switch using the right arm",
+    "Press the metal-pronged black switch using robotic control",
+    "Click the red and black electrical switch to activate it",
+    "Press the plastic switch with metal prongs to activate.",
+    "Interact with the switch for turning circuits on off directly",
+    "Engage the switch with three metal pins using the robotic arm",
+    "Deploy the right arm to operate the switch with three metal pins",
+    "Click on the metal-pronged black switch precisely",
+    "Operate the right arm to engage the two-tone red black switch",
+    "Directly interact with the red and black electrical switch",
+    "Press the two-tone red black switch using the right arm.",
+    "Command the right arm to engage the black base switch",
+    "Locate and press the tiny rectangular switch",
+    "Use the right arm to engage the metal-pronged black switch",
+    "Set the right arm to press the smooth red switch with labels",
+    "Operate the metal-pronged black switch with the right arm",
+    "Activate the metal-pronged black switch via the right arm",
+    "Press the smooth red switch with labels carefully with the right arm",
+    "Trigger the rectangular switch using the right arm",
+    "Engage the switch with three metal pins using the right arm.",
+    "Activate the toggle switch with black housing with the right arm.",
+    "Switch the rectangular switch to its active state",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Toggle the tiny rectangular switch with the right arm.",
+    "Interact with the plastic switch with metal prongs.",
+    "Press the small switch with red lever via automation",
+    "Activate the the red and black electrical switch using the right arm",
+    "Engage the right arm to press the tiny rectangular switch",
+    "Engage the black base switch with a press.",
+    "Click the switch with three metal pins using automated tools",
+    "Trigger the small switch with red lever with precision",
+    "Press the plastic switch with metal prongs with the right arm",
+    "Tap the switch for turning circuits on off to engage it",
+    "Initiate the black base switch by clicking",
+    "Activate the two-tone red black switch directly",
+    "Move to the black base switch and click it.",
+    "Direct the right arm to operate the rectangular switch",
+    "Engage with the toggle switch with black housing manually",
+    "Locate and press the two-tone red black switch",
+    "Click the switch for turning circuits on off directly.",
+    "Deploy the right arm to press the plastic switch with metal prongs",
+    "Click the toggle switch with black housing with robotic precision",
+    "Approach and tap the red and black electrical switch via the right arm",
+    "Activate the two-tone red black switch with robotic precision",
+    "Use the right arm for switching the tiny rectangular switch",
+    "Activate the plastic switch with metal prongs by pressing it",
+    "Press the metal-pronged black switch directly",
+    "Push the tiny rectangular switch via the right arm.",
+    "Use the right arm to interact with the toggle switch with black housing",
+    "Set the switch at the red and black electrical switch",
+    "Engage the rectangular switch using the right arm",
+    "Press the black base switch using robotic control",
+    "Click the two-tone red black switch to activate it",
+    "Press the red and black electrical switch to activate.",
+    "Interact with the switch with three metal pins directly",
+    "Engage the switch for turning circuits on off using the robotic arm",
+    "Deploy the right arm to operate the switch for turning circuits on off",
+    "Click on the metal-pronged black switch precisely",
+    "Operate the right arm to engage the switch with three metal pins",
+    "Directly interact with the black base switch",
+    "Press the switch for turning circuits on off using the right arm.",
+    "Command the right arm to engage the metal-pronged black switch",
+    "Locate and press the plastic switch with metal prongs",
+    "Use the right arm to engage the switch with three metal pins",
+    "Set the right arm to press the two-tone red black switch",
+    "Operate the smooth red switch with labels with the right arm",
+    "Activate the switch for turning circuits on off via the right arm",
+    "Press the toggle switch with black housing carefully with the right arm",
+    "Trigger the smooth red switch with labels using the right arm",
+    "Engage the metal-pronged black switch using the right arm.",
+    "Activate the plastic switch with metal prongs with the right arm.",
+    "Switch the toggle switch with black housing to its active state",
+    "Trigger the black base switch without referencing the right arm",
+    "Toggle the plastic switch with metal prongs with the right arm.",
+    "Interact with the tiny rectangular switch.",
+    "Press the tiny rectangular switch via automation",
+    "Activate the the switch with three metal pins using the right arm",
+    "Engage the right arm to press the two-tone red black switch",
+    "Engage the red and black electrical switch with a press.",
+    "Click the two-tone red black switch using automated tools",
+    "Trigger the metal-pronged black switch with precision",
+    "Press the two-tone red black switch with the right arm",
+    "Tap the metal-pronged black switch to engage it",
+    "Initiate the toggle switch with black housing by clicking",
+    "Activate the rectangular switch directly"
+  ],
+  "unseen": [
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Use the right arm to press the red toggle switch.",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch with the right arm.",
+    "Direct the right arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Press the red toggle switch using the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Direct the right arm to click the curved toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Use the right arm to press the curved toggle switch.",
+    "Activate the switch at the curved toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode57.json b/turn_switch/piper_randomized_500/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9e2d1518c1739ff7f590ad15884073d5ce3028
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the beige switch with smooth finish with a press.",
+    "Press the hand-sized light beige switch directly",
+    "Use the right arm for switching the switch with brown button",
+    "Click the beige switch to activate it",
+    "Press the small trapezoid switch using robotic control",
+    "Press the beige switch with smooth finish via automation",
+    "Trigger the switch with rectangular dark button using the right arm",
+    "Use the right arm to engage the light plastic switch",
+    "Click the light plastic switch with robotic precision",
+    "Engage the toggle switch with brown rectangle button using the right arm.",
+    "Initiate the light plastic switch by clicking",
+    "Engage the switch with a smooth top using the right arm",
+    "Engage the right arm to press the beige switch",
+    "Interact with the hand-sized light beige switch directly",
+    "Click on the light plastic switch precisely",
+    "Activate the tiny matte beige toggle switch with the right arm.",
+    "Tap the beige switch to engage it",
+    "Command the right arm to engage the light plastic switch",
+    "Directly interact with the hand-sized light beige switch",
+    "Interact with the switch with rectangular dark button.",
+    "Activate the switch with a smooth top with robotic precision",
+    "Press the tiny matte beige toggle switch carefully with the right arm",
+    "Move to the switch with a smooth top and click it.",
+    "Operate the right arm to engage the hand-sized light beige switch",
+    "Set the switch at the toggle switch with brown rectangle button",
+    "Deploy the right arm to press the toggle switch with brown rectangle button",
+    "Click the toggle switch with brown rectangle button using automated tools",
+    "Activate the the matte beige switch with flat top using the right arm",
+    "Engage the tiny matte beige toggle switch using the robotic arm",
+    "Operate the switch with rectangular dark button with the right arm",
+    "Locate and press the hand-sized light beige switch",
+    "Deploy the right arm to operate the beige switch with smooth finish",
+    "Trigger the switch with rectangular dark button without referencing the right arm",
+    "Direct the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Activate the hand-sized light beige switch via the right arm",
+    "Click the switch with rectangular dark button directly.",
+    "Trigger the switch with rectangular dark button with precision",
+    "Activate the tiny matte beige toggle switch by pressing it",
+    "Activate the small trapezoid switch directly",
+    "Approach and tap the switch with brown button via the right arm",
+    "Push the light-colored trapezoid-shaped plastic switch via the right arm.",
+    "Locate and press the beige switch with smooth finish",
+    "Press the beige switch with smooth finish with the right arm",
+    "Set the right arm to press the toggle switch with brown rectangle button",
+    "Switch the switch with brown button to its active state",
+    "Press the small trapezoid switch using the right arm.",
+    "Engage with the hand-sized light beige switch manually",
+    "Toggle the matte beige switch with flat top with the right arm.",
+    "Press the beige switch to activate.",
+    "Use the right arm to interact with the hand-sized light beige switch",
+    "Engage the toggle switch with brown rectangle button with a press.",
+    "Press the light plastic switch directly",
+    "Use the right arm for switching the beige switch with smooth finish",
+    "Click the toggle switch with brown rectangle button to activate it",
+    "Press the matte beige switch with flat top using robotic control",
+    "Press the hand-sized light beige switch via automation",
+    "Trigger the small trapezoid switch using the right arm",
+    "Use the right arm to engage the beige switch",
+    "Click the switch with rectangular dark button with robotic precision",
+    "Engage the switch with rectangular dark button using the right arm.",
+    "Initiate the beige switch by clicking",
+    "Engage the tiny matte beige toggle switch using the right arm",
+    "Engage the right arm to press the switch with rectangular dark button",
+    "Interact with the switch with brown button directly",
+    "Click on the light-colored trapezoid-shaped plastic switch precisely",
+    "Activate the switch with rectangular dark button with the right arm.",
+    "Tap the matte beige switch with flat top to engage it",
+    "Command the right arm to engage the hand-sized light beige switch",
+    "Directly interact with the switch with brown button",
+    "Interact with the hand-sized light beige switch.",
+    "Activate the toggle switch with brown rectangle button with robotic precision",
+    "Press the switch with a smooth top carefully with the right arm",
+    "Move to the switch with brown button and click it.",
+    "Operate the right arm to engage the toggle switch with brown rectangle button",
+    "Set the switch at the beige switch with smooth finish",
+    "Deploy the right arm to press the switch with brown button",
+    "Click the matte beige switch with flat top using automated tools",
+    "Activate the the switch with brown button using the right arm",
+    "Engage the switch with brown button using the robotic arm",
+    "Operate the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Locate and press the tiny matte beige toggle switch",
+    "Deploy the right arm to operate the small trapezoid switch",
+    "Trigger the light-colored trapezoid-shaped plastic switch without referencing the right arm",
+    "Direct the right arm to operate the beige switch",
+    "Activate the light plastic switch via the right arm",
+    "Click the matte beige switch with flat top directly.",
+    "Trigger the matte beige switch with flat top with precision",
+    "Activate the beige switch by pressing it",
+    "Activate the beige switch with smooth finish directly",
+    "Approach and tap the light plastic switch via the right arm",
+    "Push the switch with brown button via the right arm.",
+    "Locate and press the hand-sized light beige switch",
+    "Press the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Set the right arm to press the tiny matte beige toggle switch",
+    "Switch the switch with a smooth top to its active state",
+    "Press the switch with a smooth top using the right arm.",
+    "Engage with the light plastic switch manually",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Press the beige switch to activate.",
+    "Use the right arm to interact with the matte beige switch with flat top"
+  ],
+  "unseen": [
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the small beige switch with angular sides using the right arm",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Move and click the the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Click the beige switch with darker brown top using the right arm",
+    "Press the beige switch with darker brown top using the right arm",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Move and click the the small beige switch with angular sides",
+    "Use the right arm to press the rectangular button switch on beige base"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode58.json b/turn_switch/piper_randomized_500/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..767c69fc6f9887aecce47a2f82e234e0185d61e3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the medium-sized black rectangular switch.",
+    "Press the switch with slanted sides to activate.",
+    "Toggle the black switch with the right arm.",
+    "Activate the the medium-sized black rectangular switch using the right arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Activate the palm-sized black switch with robotic precision",
+    "Activate the switch with slanted sides with the right arm.",
+    "Activate the palm-sized black switch directly",
+    "Operate the right arm to engage the medium-sized black rectangular switch",
+    "Use the right arm to interact with the slanted-edge plastic black switch",
+    "Engage the black switch with slim profile using the right arm.",
+    "Interact with the compact rectangular black switch directly",
+    "Click the palm-sized black switch with robotic precision",
+    "Switch the rectangular switch with smooth surface to its active state",
+    "Initiate the control switch by clicking",
+    "Operate the black switch with slim profile with the right arm",
+    "Press the control switch carefully with the right arm",
+    "Press the black rectangular control switch using the right arm.",
+    "Press the medium-sized black rectangular switch using robotic control",
+    "Engage the palm-sized black switch using the robotic arm",
+    "Deploy the right arm to press the medium-sized black rectangular switch",
+    "Locate and press the compact rectangular black switch",
+    "Engage the sleek black rectangular switch with a press.",
+    "Click the black switch with slim profile to activate it",
+    "Press the sleek black rectangular switch via automation",
+    "Deploy the right arm to operate the black switch with slim profile",
+    "Use the right arm to engage the slanted-edge plastic black switch",
+    "Click the compact rectangular black switch directly.",
+    "Press the compact rectangular black switch with the right arm",
+    "Use the right arm for switching the medium-sized black rectangular switch",
+    "Approach and tap the black switch with slim profile via the right arm",
+    "Activate the control switch by pressing it",
+    "Activate the rectangular switch with smooth surface via the right arm",
+    "Push the switch with slanted sides via the right arm.",
+    "Click the black switch using automated tools",
+    "Tap the control switch to engage it",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Move to the black rectangular control switch and click it.",
+    "Directly interact with the medium-sized black rectangular switch",
+    "Engage the sleek black rectangular switch using the right arm",
+    "Press the black switch directly",
+    "Direct the right arm to operate the slanted-edge plastic black switch",
+    "Set the switch at the sleek black rectangular switch",
+    "Command the right arm to engage the slanted-edge plastic black switch",
+    "Engage with the black switch manually",
+    "Trigger the black rectangular control switch with precision",
+    "Trigger the sleek black rectangular switch using the right arm",
+    "Trigger the palm-sized black switch without referencing the right arm",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Interact with the compact rectangular black switch.",
+    "Press the black switch with slim profile to activate.",
+    "Toggle the sleek black rectangular switch with the right arm.",
+    "Activate the the control switch using the right arm",
+    "Locate and press the compact rectangular black switch",
+    "Activate the compact rectangular black switch with robotic precision",
+    "Activate the compact rectangular black switch with the right arm.",
+    "Activate the black rectangular control switch directly",
+    "Operate the right arm to engage the black switch with slim profile",
+    "Use the right arm to interact with the black switch",
+    "Engage the control switch using the right arm.",
+    "Interact with the rectangular switch with smooth surface directly",
+    "Click the medium-sized black rectangular switch with robotic precision",
+    "Switch the compact rectangular black switch to its active state",
+    "Initiate the compact rectangular black switch by clicking",
+    "Operate the black rectangular control switch with the right arm",
+    "Press the black rectangular control switch carefully with the right arm",
+    "Press the control switch using the right arm.",
+    "Press the rectangular switch with smooth surface using robotic control",
+    "Engage the palm-sized black switch using the robotic arm",
+    "Deploy the right arm to press the black rectangular control switch",
+    "Locate and press the slanted-edge plastic black switch",
+    "Engage the black switch with slim profile with a press.",
+    "Click the black switch with matte coating to activate it",
+    "Press the slanted-edge plastic black switch via automation",
+    "Deploy the right arm to operate the medium-sized black rectangular switch",
+    "Use the right arm to engage the control switch",
+    "Click the black switch with matte coating directly.",
+    "Press the compact rectangular black switch with the right arm",
+    "Use the right arm for switching the slanted-edge plastic black switch",
+    "Approach and tap the slanted-edge plastic black switch via the right arm",
+    "Activate the sleek black rectangular switch by pressing it",
+    "Activate the control switch via the right arm",
+    "Push the black switch with slim profile via the right arm.",
+    "Click the slanted-edge plastic black switch using automated tools",
+    "Tap the black switch with matte coating to engage it",
+    "Set the right arm to press the switch with slanted sides",
+    "Move to the switch with slanted sides and click it.",
+    "Directly interact with the palm-sized black switch",
+    "Engage the black switch with slim profile using the right arm",
+    "Press the sleek black rectangular switch directly",
+    "Direct the right arm to operate the switch with slanted sides",
+    "Set the switch at the slanted-edge plastic black switch",
+    "Command the right arm to engage the rectangular switch with smooth surface",
+    "Engage with the switch with slanted sides manually",
+    "Trigger the black switch with precision",
+    "Trigger the palm-sized black switch using the right arm",
+    "Trigger the rectangular switch with smooth surface without referencing the right arm",
+    "Engage the right arm to press the slanted-edge plastic black switch",
+    "Click on the black switch precisely"
+  ],
+  "unseen": [
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Activate the switch at the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Activate the switch at the matte black plastic switch",
+    "Move and click the the matte black plastic switch",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode60.json b/turn_switch/piper_randomized_500/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8f66454b1f3d95aa2d81e60dc3bbe8138204711
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the switch for electrical control directly.",
+    "Locate and press the light gray square switch",
+    "Press the electrical switch with protruding toggle via automation",
+    "Click the compact switch with flat base with robotic precision",
+    "Engage with the switch for electrical control manually",
+    "Directly interact with the light gray square switch",
+    "Press the switch directly",
+    "Tap the red bar switch to engage it",
+    "Engage the compact switch with flat base using the left arm",
+    "Click the switch to activate it",
+    "Press the switch to activate.",
+    "Press the switch with thin red toggle with the left arm",
+    "Activate the plastic gray body switch with robotic precision",
+    "Operate the left arm to engage the square switch with red bar",
+    "Deploy the left arm to press the compact switch with flat base",
+    "Interact with the light gray square switch.",
+    "Switch the toggle switch light gray base to its active state",
+    "Use the left arm for switching the square switch with red bar",
+    "Locate and press the switch for electrical control",
+    "Activate the the red bar switch using the left arm",
+    "Trigger the toggle switch light gray base using the left arm",
+    "Use the left arm to engage the switch with thin red toggle",
+    "Activate the electrical switch with protruding toggle directly",
+    "Operate the light gray square switch with the left arm",
+    "Activate the control switch with red lever with the left arm.",
+    "Approach and tap the switch with thin red toggle via the left arm",
+    "Move to the red bar switch and click it.",
+    "Click on the light gray square switch precisely",
+    "Toggle the gray switch with red toggle with the left arm.",
+    "Engage the switch using the left arm.",
+    "Engage the left arm to press the square switch with red bar",
+    "Click the electrical switch with protruding toggle using automated tools",
+    "Engage the switch for electrical control using the robotic arm",
+    "Press the compact switch with flat base using the left arm.",
+    "Set the switch at the red bar switch",
+    "Set the left arm to press the red bar switch",
+    "Press the electrical switch with protruding toggle using robotic control",
+    "Trigger the electrical switch with protruding toggle with precision",
+    "Interact with the square switch with red bar directly",
+    "Use the left arm to interact with the toggle switch light gray base",
+    "Initiate the switch by clicking",
+    "Push the switch for electrical control via the left arm.",
+    "Command the left arm to engage the switch for electrical control",
+    "Press the gray switch with red toggle carefully with the left arm",
+    "Direct the left arm to operate the control switch with red lever",
+    "Deploy the left arm to operate the square switch with red bar",
+    "Activate the control switch with red lever by pressing it",
+    "Activate the switch with thin red toggle via the left arm",
+    "Engage the switch with a press.",
+    "Trigger the electrical switch with protruding toggle without referencing the left arm",
+    "Click the light gray square switch directly.",
+    "Locate and press the light gray square switch",
+    "Press the square switch with red bar via automation",
+    "Click the square switch with red bar with robotic precision",
+    "Engage with the switch for electrical control manually",
+    "Directly interact with the control switch with red lever",
+    "Press the red bar switch directly",
+    "Tap the switch for electrical control to engage it",
+    "Engage the gray switch with red toggle using the left arm",
+    "Click the plastic gray body switch to activate it",
+    "Press the compact switch with flat base to activate.",
+    "Press the switch with the left arm",
+    "Activate the gray switch with red toggle with robotic precision",
+    "Operate the left arm to engage the switch for electrical control",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Interact with the light gray square switch.",
+    "Switch the red bar switch to its active state",
+    "Use the left arm for switching the red bar switch",
+    "Locate and press the light gray square switch",
+    "Activate the the light gray square switch using the left arm",
+    "Trigger the switch with thin red toggle using the left arm",
+    "Use the left arm to engage the square switch with red bar",
+    "Activate the square switch with red bar directly",
+    "Operate the control switch with red lever with the left arm",
+    "Activate the light gray square switch with the left arm.",
+    "Approach and tap the toggle switch light gray base via the left arm",
+    "Move to the control switch with red lever and click it.",
+    "Click on the square switch with red bar precisely",
+    "Toggle the control switch with red lever with the left arm.",
+    "Engage the square switch with red bar using the left arm.",
+    "Engage the left arm to press the switch with thin red toggle",
+    "Click the control switch with red lever using automated tools",
+    "Engage the control switch with red lever using the robotic arm",
+    "Press the electrical switch with protruding toggle using the left arm.",
+    "Set the switch at the gray switch with red toggle",
+    "Set the left arm to press the square switch with red bar",
+    "Press the light gray square switch using robotic control",
+    "Trigger the switch with thin red toggle with precision",
+    "Interact with the switch with thin red toggle directly",
+    "Use the left arm to interact with the electrical switch with protruding toggle",
+    "Initiate the light gray square switch by clicking",
+    "Push the square switch with red bar via the left arm.",
+    "Command the left arm to engage the electrical switch with protruding toggle",
+    "Press the square switch with red bar carefully with the left arm",
+    "Direct the left arm to operate the square switch with red bar",
+    "Deploy the left arm to operate the square switch with red bar",
+    "Activate the red bar switch by pressing it",
+    "Activate the red bar switch via the left arm",
+    "Engage the light gray square switch with a press.",
+    "Trigger the light gray square switch without referencing the left arm"
+  ],
+  "unseen": [
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the flat square gray switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the smooth gray base switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the hand-sized square electrical switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the flat square gray switch",
+    "Click the flat square gray switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Move and click the the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Click the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Move and click the the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Activate the switch at the flat square gray switch",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Move and click the the flat square gray switch",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Click the flat square gray switch with the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode62.json b/turn_switch/piper_randomized_500/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..7008b880840f42929b69aab6a9cebce91bd5a97b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm for switching the switch with rectangular dark button",
+    "Engage the light plastic switch using the right arm",
+    "Activate the beige switch with smooth finish directly",
+    "Operate the switch with a smooth top with the right arm",
+    "Click the small trapezoid switch with robotic precision",
+    "Press the toggle switch with brown rectangle button with the right arm",
+    "Locate and press the light plastic switch",
+    "Use the right arm to engage the switch with brown button",
+    "Activate the switch with brown button with robotic precision",
+    "Deploy the right arm to press the light plastic switch",
+    "Engage the right arm to press the switch with a smooth top",
+    "Locate and press the hand-sized light beige switch",
+    "Set the right arm to press the light plastic switch",
+    "Trigger the switch with brown button using the right arm",
+    "Push the beige switch via the right arm.",
+    "Engage the small trapezoid switch with a press.",
+    "Operate the right arm to engage the light-colored trapezoid-shaped plastic switch",
+    "Activate the light plastic switch by pressing it",
+    "Interact with the tiny matte beige toggle switch directly",
+    "Engage the small trapezoid switch using the robotic arm",
+    "Move to the beige switch and click it.",
+    "Use the right arm to interact with the beige switch",
+    "Tap the switch with rectangular dark button to engage it",
+    "Activate the light-colored trapezoid-shaped plastic switch with the right arm.",
+    "Trigger the hand-sized light beige switch without referencing the right arm",
+    "Direct the right arm to operate the toggle switch with brown rectangle button",
+    "Press the switch with brown button to activate.",
+    "Activate the small trapezoid switch via the right arm",
+    "Trigger the beige switch with precision",
+    "Directly interact with the light plastic switch",
+    "Press the matte beige switch with flat top using robotic control",
+    "Click the tiny matte beige toggle switch using automated tools",
+    "Initiate the hand-sized light beige switch by clicking",
+    "Switch the beige switch to its active state",
+    "Click the matte beige switch with flat top to activate it",
+    "Click the beige switch with smooth finish directly.",
+    "Press the beige switch directly",
+    "Command the right arm to engage the toggle switch with brown rectangle button",
+    "Activate the the hand-sized light beige switch using the right arm",
+    "Press the switch with rectangular dark button using the right arm.",
+    "Set the switch at the light plastic switch",
+    "Approach and tap the switch with rectangular dark button via the right arm",
+    "Press the beige switch with smooth finish carefully with the right arm",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Interact with the light plastic switch.",
+    "Engage with the small trapezoid switch manually",
+    "Engage the switch with brown button using the right arm.",
+    "Press the hand-sized light beige switch via automation",
+    "Toggle the hand-sized light beige switch with the right arm.",
+    "Click on the matte beige switch with flat top precisely",
+    "Use the right arm for switching the beige switch with smooth finish",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Activate the tiny matte beige toggle switch directly",
+    "Operate the light-colored trapezoid-shaped plastic switch with the right arm",
+    "Click the light-colored trapezoid-shaped plastic switch with robotic precision",
+    "Press the matte beige switch with flat top with the right arm",
+    "Locate and press the switch with brown button",
+    "Use the right arm to engage the beige switch",
+    "Activate the small trapezoid switch with robotic precision",
+    "Deploy the right arm to press the light-colored trapezoid-shaped plastic switch",
+    "Engage the right arm to press the switch with brown button",
+    "Locate and press the beige switch",
+    "Set the right arm to press the switch with brown button",
+    "Trigger the small trapezoid switch using the right arm",
+    "Push the tiny matte beige toggle switch via the right arm.",
+    "Engage the switch with brown button with a press.",
+    "Operate the right arm to engage the switch with a smooth top",
+    "Activate the light-colored trapezoid-shaped plastic switch by pressing it",
+    "Interact with the beige switch with smooth finish directly",
+    "Engage the switch with rectangular dark button using the robotic arm",
+    "Move to the beige switch with smooth finish and click it.",
+    "Use the right arm to interact with the switch with a smooth top",
+    "Tap the hand-sized light beige switch to engage it",
+    "Activate the light plastic switch with the right arm.",
+    "Trigger the switch with rectangular dark button without referencing the right arm",
+    "Direct the right arm to operate the small trapezoid switch",
+    "Press the switch with brown button to activate.",
+    "Activate the light-colored trapezoid-shaped plastic switch via the right arm",
+    "Trigger the beige switch with smooth finish with precision",
+    "Directly interact with the tiny matte beige toggle switch",
+    "Press the hand-sized light beige switch using robotic control",
+    "Click the matte beige switch with flat top using automated tools",
+    "Initiate the light plastic switch by clicking",
+    "Switch the beige switch with smooth finish to its active state",
+    "Click the matte beige switch with flat top to activate it",
+    "Click the matte beige switch with flat top directly.",
+    "Press the beige switch with smooth finish directly",
+    "Command the right arm to engage the matte beige switch with flat top",
+    "Activate the the light-colored trapezoid-shaped plastic switch using the right arm",
+    "Press the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Set the switch at the small trapezoid switch",
+    "Approach and tap the switch with brown button via the right arm",
+    "Press the hand-sized light beige switch carefully with the right arm",
+    "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch",
+    "Interact with the beige switch with smooth finish.",
+    "Engage with the beige switch manually",
+    "Engage the light-colored trapezoid-shaped plastic switch using the right arm.",
+    "Press the switch with a smooth top via automation",
+    "Toggle the tiny matte beige toggle switch with the right arm.",
+    "Click on the switch with brown button precisely"
+  ],
+  "unseen": [
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Move and click the the beige switch with darker brown top",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the rectangular button switch on beige base",
+    "Move and click the the small beige switch with angular sides",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the rectangular button switch on beige base using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the small beige switch with angular sides",
+    "Click the beige switch with darker brown top using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the small beige switch with angular sides.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the small beige switch with angular sides",
+    "Move and click the the small beige switch with angular sides",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Click the small beige switch with angular sides with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the small beige switch with angular sides",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the beige switch with darker brown top using the right arm",
+    "Click the rectangular button switch on beige base with the right arm",
+    "Direct the right arm to click the rectangular button switch on beige base",
+    "Click the rectangular button switch on beige base using the right arm",
+    "Click the beige switch with darker brown top with the right arm.",
+    "Use the right arm to press the rectangular button switch on beige base.",
+    "Click the small beige switch with angular sides with the right arm",
+    "Activate the switch at the beige switch with darker brown top",
+    "Use the right arm to press the beige switch with darker brown top",
+    "Move and click the the rectangular button switch on beige base",
+    "Press the small beige switch with angular sides using the right arm",
+    "Click the beige switch with darker brown top with the right arm",
+    "Direct the right arm to click the beige switch with darker brown top",
+    "Click the small beige switch with angular sides using the right arm",
+    "Click the rectangular button switch on beige base with the right arm.",
+    "Use the right arm to press the beige switch with darker brown top.",
+    "Click the beige switch with darker brown top with the right arm",
+    "Activate the switch at the rectangular button switch on beige base",
+    "Use the right arm to press the beige switch with darker brown top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode63.json b/turn_switch/piper_randomized_500/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04e62a1af46406c66cbc03a7953e1c80a31307b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the plastic gray body switch using the left arm.",
+    "Click the gray switch with red toggle directly.",
+    "Deploy the left arm to press the gray switch with red toggle",
+    "Locate and press the electrical switch with protruding toggle",
+    "Click on the switch with thin red toggle precisely",
+    "Set the left arm to press the gray switch with red toggle",
+    "Press the control switch with red lever via automation",
+    "Use the left arm for switching the switch with thin red toggle",
+    "Operate the left arm to engage the compact switch with flat base",
+    "Activate the electrical switch with protruding toggle directly",
+    "Engage the square switch with red bar using the left arm",
+    "Activate the light gray square switch by pressing it",
+    "Engage the light gray square switch using the left arm.",
+    "Activate the control switch with red lever with robotic precision",
+    "Activate the the switch with thin red toggle using the left arm",
+    "Engage with the switch manually",
+    "Trigger the electrical switch with protruding toggle without referencing the left arm",
+    "Click the switch for electrical control using automated tools",
+    "Command the left arm to engage the gray switch with red toggle",
+    "Press the compact switch with flat base carefully with the left arm",
+    "Activate the electrical switch with protruding toggle via the left arm",
+    "Directly interact with the switch with thin red toggle",
+    "Press the electrical switch with protruding toggle using robotic control",
+    "Move to the red bar switch and click it.",
+    "Operate the toggle switch light gray base with the left arm",
+    "Set the switch at the square switch with red bar",
+    "Engage the control switch with red lever using the robotic arm",
+    "Push the plastic gray body switch via the left arm.",
+    "Engage the left arm to press the switch for electrical control",
+    "Trigger the gray switch with red toggle with precision",
+    "Initiate the light gray square switch by clicking",
+    "Activate the gray switch with red toggle with the left arm.",
+    "Press the compact switch with flat base directly",
+    "Trigger the switch with thin red toggle using the left arm",
+    "Locate and press the switch",
+    "Approach and tap the gray switch with red toggle via the left arm",
+    "Press the switch with the left arm",
+    "Toggle the compact switch with flat base with the left arm.",
+    "Interact with the control switch with red lever directly",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Use the left arm to engage the switch for electrical control",
+    "Interact with the switch.",
+    "Use the left arm to interact with the square switch with red bar",
+    "Direct the left arm to operate the red bar switch",
+    "Click the gray switch with red toggle to activate it",
+    "Press the switch for electrical control to activate.",
+    "Tap the control switch with red lever to engage it",
+    "Click the switch for electrical control with robotic precision",
+    "Engage the red bar switch with a press.",
+    "Switch the switch with thin red toggle to its active state",
+    "Press the toggle switch light gray base using the left arm.",
+    "Click the plastic gray body switch directly.",
+    "Deploy the left arm to press the light gray square switch",
+    "Locate and press the switch for electrical control",
+    "Click on the square switch with red bar precisely",
+    "Set the left arm to press the control switch with red lever",
+    "Press the plastic gray body switch via automation",
+    "Use the left arm for switching the square switch with red bar",
+    "Operate the left arm to engage the electrical switch with protruding toggle",
+    "Activate the switch with thin red toggle directly",
+    "Engage the control switch with red lever using the left arm",
+    "Activate the plastic gray body switch by pressing it",
+    "Engage the switch for electrical control using the left arm.",
+    "Activate the gray switch with red toggle with robotic precision",
+    "Activate the the switch using the left arm",
+    "Engage with the red bar switch manually",
+    "Trigger the red bar switch without referencing the left arm",
+    "Click the toggle switch light gray base using automated tools",
+    "Command the left arm to engage the electrical switch with protruding toggle",
+    "Press the light gray square switch carefully with the left arm",
+    "Activate the light gray square switch via the left arm",
+    "Directly interact with the gray switch with red toggle",
+    "Press the compact switch with flat base using robotic control",
+    "Move to the switch and click it.",
+    "Operate the gray switch with red toggle with the left arm",
+    "Set the switch at the light gray square switch",
+    "Engage the switch using the robotic arm",
+    "Push the compact switch with flat base via the left arm.",
+    "Engage the left arm to press the switch for electrical control",
+    "Trigger the compact switch with flat base with precision",
+    "Initiate the switch by clicking",
+    "Activate the square switch with red bar with the left arm.",
+    "Press the control switch with red lever directly",
+    "Trigger the square switch with red bar using the left arm",
+    "Locate and press the plastic gray body switch",
+    "Approach and tap the square switch with red bar via the left arm",
+    "Press the light gray square switch with the left arm",
+    "Toggle the toggle switch light gray base with the left arm.",
+    "Interact with the light gray square switch directly",
+    "Deploy the left arm to operate the switch for electrical control",
+    "Use the left arm to engage the switch",
+    "Interact with the compact switch with flat base.",
+    "Use the left arm to interact with the electrical switch with protruding toggle",
+    "Direct the left arm to operate the electrical switch with protruding toggle",
+    "Click the switch with thin red toggle to activate it",
+    "Press the electrical switch with protruding toggle to activate.",
+    "Tap the gray switch with red toggle to engage it",
+    "Click the compact switch with flat base with robotic precision",
+    "Engage the square switch with red bar with a press.",
+    "Switch the switch with thin red toggle to its active state"
+  ],
+  "unseen": [
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the flat square gray switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the smooth gray base switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the left arm.",
+    "Press the smooth gray base switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the smooth gray base switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the flat square gray switch with the left arm",
+    "Move and click the the hand-sized square electrical switch",
+    "Direct the left arm to click the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the flat square gray switch",
+    "Click the hand-sized square electrical switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the left arm.",
+    "Press the flat square gray switch using the left arm",
+    "Use the left arm to press the hand-sized square electrical switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the smooth gray base switch with the left arm",
+    "Move and click the the smooth gray base switch",
+    "Direct the left arm to click the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch with the left arm",
+    "Use the left arm to press the smooth gray base switch.",
+    "Click the hand-sized square electrical switch with the left arm.",
+    "Press the hand-sized square electrical switch using the left arm",
+    "Use the left arm to press the smooth gray base switch",
+    "Click the flat square gray switch using the left arm",
+    "Click the hand-sized square electrical switch with the left arm",
+    "Move and click the the smooth gray base switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode69.json b/turn_switch/piper_randomized_500/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6fa0d6b909e3b08ba3ff6aaccde4706ca77edb9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the smooth gray switch to activate it",
+    "Use the left arm for switching the small square switch",
+    "Directly interact with the switch with smooth light gray finish",
+    "Locate and press the flat square with raised center",
+    "Press the smooth gray switch carefully with the left arm",
+    "Engage with the switch for electrical control manually",
+    "Locate and press the square switch with smooth surface",
+    "Press the small square switch using robotic control",
+    "Activate the switch for electrical control directly",
+    "Tap the switch with smooth light gray finish to engage it",
+    "Operate the switch with smooth light gray finish with the left arm",
+    "Use the left arm to interact with the small square switch",
+    "Trigger the square gray switch panel without referencing the left arm",
+    "Activate the the switch with smooth light gray finish using the left arm",
+    "Engage the angled-edge gray square switch using the left arm.",
+    "Click the square gray switch panel directly.",
+    "Engage the left arm to press the square switch with smooth surface",
+    "Activate the light gray plastic switch with the left arm.",
+    "Press the square switch with smooth surface via automation",
+    "Switch the small square switch made of plastic to its active state",
+    "Activate the smooth gray switch via the left arm",
+    "Initiate the small square switch made of plastic by clicking",
+    "Interact with the square switch with smooth surface.",
+    "Engage the switch with smooth light gray finish with a press.",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Move to the palm-sized light gray switch and click it.",
+    "Trigger the smooth gray switch using the left arm",
+    "Activate the palm-sized light gray switch with robotic precision",
+    "Click on the switch with rectangular raised area precisely",
+    "Interact with the small square switch made of plastic directly",
+    "Trigger the square switch with smooth surface with precision",
+    "Direct the left arm to operate the light gray plastic switch",
+    "Press the palm-sized light gray switch directly",
+    "Click the smooth gray switch using automated tools",
+    "Engage the small square switch using the left arm",
+    "Set the left arm to press the switch with smooth light gray finish",
+    "Press the flat square with raised center to activate.",
+    "Press the switch with rectangular raised area with the left arm",
+    "Click the small square switch made of plastic with robotic precision",
+    "Deploy the left arm to press the square switch with smooth surface",
+    "Set the switch at the flat square with raised center",
+    "Engage the square gray switch panel using the robotic arm",
+    "Use the left arm to engage the square switch with smooth surface",
+    "Activate the angled-edge gray square switch by pressing it",
+    "Push the square gray switch panel via the left arm.",
+    "Toggle the switch with smooth light gray finish with the left arm.",
+    "Approach and tap the switch with rectangular raised area via the left arm",
+    "Deploy the left arm to operate the flat square with raised center",
+    "Press the small square switch made of plastic using the left arm.",
+    "Command the left arm to engage the small square switch made of plastic",
+    "Click the small square switch to activate it",
+    "Use the left arm for switching the square gray switch panel",
+    "Directly interact with the flat square with raised center",
+    "Locate and press the angled-edge gray square switch",
+    "Press the switch with rectangular raised area carefully with the left arm",
+    "Engage with the switch with smooth light gray finish manually",
+    "Locate and press the switch with smooth light gray finish",
+    "Press the angled-edge gray square switch using robotic control",
+    "Activate the light gray plastic switch directly",
+    "Tap the palm-sized light gray switch to engage it",
+    "Operate the square switch with smooth surface with the left arm",
+    "Use the left arm to interact with the smooth gray switch",
+    "Trigger the flat square with raised center without referencing the left arm",
+    "Activate the the smooth gray switch using the left arm",
+    "Engage the light gray plastic switch using the left arm.",
+    "Click the smooth gray switch directly.",
+    "Engage the left arm to press the switch with smooth light gray finish",
+    "Activate the small square switch made of plastic with the left arm.",
+    "Press the switch with smooth light gray finish via automation",
+    "Switch the angled-edge gray square switch to its active state",
+    "Activate the small square switch via the left arm",
+    "Initiate the switch for electrical control by clicking",
+    "Interact with the smooth gray switch.",
+    "Engage the flat square with raised center with a press.",
+    "Operate the left arm to engage the switch with rectangular raised area",
+    "Move to the angled-edge gray square switch and click it.",
+    "Trigger the smooth gray switch using the left arm",
+    "Activate the palm-sized light gray switch with robotic precision",
+    "Click on the angled-edge gray square switch precisely",
+    "Interact with the palm-sized light gray switch directly",
+    "Trigger the square gray switch panel with precision",
+    "Direct the left arm to operate the switch for electrical control",
+    "Press the square gray switch panel directly",
+    "Click the square switch with smooth surface using automated tools",
+    "Engage the small square switch using the left arm",
+    "Set the left arm to press the angled-edge gray square switch",
+    "Press the angled-edge gray square switch to activate.",
+    "Press the small square switch made of plastic with the left arm",
+    "Click the palm-sized light gray switch with robotic precision",
+    "Deploy the left arm to press the angled-edge gray square switch",
+    "Set the switch at the square gray switch panel",
+    "Engage the small square switch made of plastic using the robotic arm",
+    "Use the left arm to engage the small square switch made of plastic",
+    "Activate the small square switch made of plastic by pressing it",
+    "Push the square gray switch panel via the left arm.",
+    "Toggle the small square switch with the left arm.",
+    "Approach and tap the smooth gray switch via the left arm",
+    "Deploy the left arm to operate the switch with smooth light gray finish",
+    "Press the square switch with smooth surface using the left arm.",
+    "Command the left arm to engage the small square switch made of plastic"
+  ],
+  "unseen": [
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the flat gray switch",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the switch with angled edges",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the switch with angled edges.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Click the switch with angled edges with the left arm",
+    "Move and click the the switch with angled edges",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the flat gray switch.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the gray switch with slanted sides with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the flat gray switch",
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the left arm to press the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the flat gray switch",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the switch with angled edges using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides",
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the gray switch with slanted sides",
+    "Direct the left arm to click the switch with angled edges",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the gray switch with slanted sides with the left arm",
+    "Press the flat gray switch using the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the switch with angled edges",
+    "Click the gray switch with slanted sides with the left arm",
+    "Move and click the the switch with angled edges",
+    "Direct the left arm to click the flat gray switch",
+    "Use the left arm to press the gray switch with slanted sides.",
+    "Click the switch with angled edges with the left arm",
+    "Press the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the gray switch with slanted sides",
+    "Use the left arm to press the switch with angled edges",
+    "Click the flat gray switch with the left arm",
+    "Move and click the the switch with angled edges",
+    "Direct the left arm to click the gray switch with slanted sides",
+    "Use the left arm to press the flat gray switch.",
+    "Click the switch with angled edges with the left arm",
+    "Press the switch with angled edges using the left arm",
+    "Click the gray switch with slanted sides using the left arm",
+    "Click the flat gray switch with the left arm.",
+    "Activate the switch at the flat gray switch",
+    "Use the left arm to press the switch with angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode7.json b/turn_switch/piper_randomized_500/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e84ef02f8793ca045c5d9c9ea0322e3d6bb0afe
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the switch with curved red toggle",
+    "Trigger the switch with curved red toggle using the left arm",
+    "Engage the left arm to press the small switch",
+    "Press the small switch via automation",
+    "Click the compact switch with toggle on top with robotic precision",
+    "Activate the plastic switch with metal terminals via the left arm",
+    "Activate the the small switch using the left arm",
+    "Activate the switch with curved red toggle with the left arm.",
+    "Direct the left arm to operate the rectangular switch with curved lever",
+    "Press the black switch with metallic connectors using the left arm.",
+    "Command the left arm to engage the switch with curved red toggle",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Click the plastic switch with metal terminals to activate it",
+    "Click the black base switch with red toggle using automated tools",
+    "Trigger the switch with curved red toggle with precision",
+    "Engage the red-top black switch with a press.",
+    "Set the switch at the hand-sized switch with connector prongs",
+    "Activate the hand-sized switch with connector prongs directly",
+    "Use the left arm for switching the hand-sized switch with connector prongs",
+    "Activate the rectangular switch with curved lever with robotic precision",
+    "Use the left arm to interact with the red-top black switch",
+    "Approach and tap the red and black switch via the left arm",
+    "Interact with the black base switch with red toggle.",
+    "Deploy the left arm to operate the switch with curved red toggle",
+    "Toggle the rectangular black plastic switch with the left arm.",
+    "Trigger the black switch with metallic connectors without referencing the left arm",
+    "Operate the left arm to engage the black switch with metallic connectors",
+    "Tap the red and black switch to engage it",
+    "Press the plastic switch with metal terminals with the left arm",
+    "Switch the small switch to its active state",
+    "Press the black switch directly",
+    "Locate and press the black switch",
+    "Engage the red and black switch using the left arm",
+    "Engage the black base switch with red toggle using the left arm.",
+    "Click the rectangular switch with curved lever directly.",
+    "Click on the rectangular switch with curved lever precisely",
+    "Use the left arm to engage the black base switch with red toggle",
+    "Press the plastic switch with metal terminals to activate.",
+    "Engage the small switch using the robotic arm",
+    "Press the compact switch with toggle on top carefully with the left arm",
+    "Deploy the left arm to press the rectangular black plastic switch",
+    "Set the left arm to press the switch with curved red toggle",
+    "Directly interact with the red-top black switch",
+    "Operate the hand-sized switch with connector prongs with the left arm",
+    "Interact with the hand-sized switch with connector prongs directly",
+    "Push the rectangular black plastic switch via the left arm.",
+    "Move to the black switch and click it.",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Engage with the black switch with metallic connectors manually",
+    "Initiate the black switch by clicking",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Trigger the plastic switch with metal terminals using the left arm",
+    "Engage the left arm to press the red-top black switch",
+    "Press the red and black switch via automation",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Activate the red-top black switch via the left arm",
+    "Activate the the black switch using the left arm",
+    "Activate the black switch with the left arm.",
+    "Direct the left arm to operate the switch with curved red toggle",
+    "Press the plastic switch with metal terminals using the left arm.",
+    "Command the left arm to engage the small switch",
+    "Press the small switch using robotic control",
+    "Click the rectangular black plastic switch to activate it",
+    "Click the black switch with metallic connectors using automated tools",
+    "Trigger the red-top black switch with precision",
+    "Engage the red and black switch with a press.",
+    "Set the switch at the black switch with metallic connectors",
+    "Activate the plastic switch with metal terminals directly",
+    "Use the left arm for switching the plastic switch with metal terminals",
+    "Activate the small switch with robotic precision",
+    "Use the left arm to interact with the hand-sized switch with connector prongs",
+    "Approach and tap the compact switch with toggle on top via the left arm",
+    "Interact with the hand-sized switch with connector prongs.",
+    "Deploy the left arm to operate the red and black switch",
+    "Toggle the switch with curved red toggle with the left arm.",
+    "Trigger the black base switch with red toggle without referencing the left arm",
+    "Operate the left arm to engage the black switch",
+    "Tap the hand-sized switch with connector prongs to engage it",
+    "Press the red-top black switch with the left arm",
+    "Switch the hand-sized switch with connector prongs to its active state",
+    "Press the switch with curved red toggle directly",
+    "Locate and press the switch with curved red toggle",
+    "Engage the black switch using the left arm",
+    "Engage the plastic switch with metal terminals using the left arm.",
+    "Click the red-top black switch directly.",
+    "Click on the switch with curved red toggle precisely",
+    "Use the left arm to engage the red-top black switch",
+    "Press the rectangular switch with curved lever to activate.",
+    "Engage the switch with curved red toggle using the robotic arm",
+    "Press the hand-sized switch with connector prongs carefully with the left arm",
+    "Deploy the left arm to press the rectangular switch with curved lever",
+    "Set the left arm to press the black switch with metallic connectors",
+    "Directly interact with the compact switch with toggle on top",
+    "Operate the black switch with metallic connectors with the left arm",
+    "Interact with the compact switch with toggle on top directly",
+    "Push the plastic switch with metal terminals via the left arm.",
+    "Move to the black base switch with red toggle and click it.",
+    "Activate the rectangular switch with curved lever by pressing it",
+    "Engage with the red-top black switch manually",
+    "Initiate the switch with curved red toggle by clicking"
+  ],
+  "unseen": [
+    "Click the switch with two metal prongs using the left arm",
+    "Move and click the the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Activate the switch at the simple toggle switch",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the simple toggle switch using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the smooth black switch with red lever using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs using the left arm",
+    "Move and click the the simple toggle switch",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Direct the left arm to click the smooth black switch with red lever"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode71.json b/turn_switch/piper_randomized_500/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c40fb4db7d9339f1142f2684d6f09647eb6e93
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Trigger the rectangular black plastic switch with precision",
+    "Engage the red-top black switch using the left arm.",
+    "Activate the rectangular switch with curved lever via the left arm",
+    "Move to the rectangular black plastic switch and click it.",
+    "Use the left arm to engage the black base switch with red toggle",
+    "Engage the left arm to press the red-top black switch",
+    "Engage the black switch with metallic connectors using the robotic arm",
+    "Engage with the plastic switch with metal terminals manually",
+    "Operate the plastic switch with metal terminals with the left arm",
+    "Press the plastic switch with metal terminals via automation",
+    "Command the left arm to engage the switch with curved red toggle",
+    "Click on the small switch precisely",
+    "Activate the red and black switch by pressing it",
+    "Deploy the left arm to operate the rectangular black plastic switch",
+    "Press the switch with curved red toggle carefully with the left arm",
+    "Engage the black base switch with red toggle with a press.",
+    "Toggle the small switch with the left arm.",
+    "Interact with the black switch with metallic connectors.",
+    "Push the black switch with metallic connectors via the left arm.",
+    "Tap the rectangular black plastic switch to engage it",
+    "Set the switch at the rectangular switch with curved lever",
+    "Activate the switch with curved red toggle with the left arm.",
+    "Operate the left arm to engage the compact switch with toggle on top",
+    "Set the left arm to press the rectangular black plastic switch",
+    "Press the switch with curved red toggle directly",
+    "Press the rectangular switch with curved lever using the left arm.",
+    "Press the hand-sized switch with connector prongs to activate.",
+    "Switch the rectangular black plastic switch to its active state",
+    "Use the left arm for switching the hand-sized switch with connector prongs",
+    "Direct the left arm to operate the black switch with metallic connectors",
+    "Click the switch with curved red toggle to activate it",
+    "Click the red-top black switch directly.",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Approach and tap the black switch with metallic connectors via the left arm",
+    "Deploy the left arm to press the black switch with metallic connectors",
+    "Activate the the red and black switch using the left arm",
+    "Press the black switch with metallic connectors using robotic control",
+    "Click the plastic switch with metal terminals using automated tools",
+    "Directly interact with the black switch",
+    "Locate and press the red and black switch",
+    "Use the left arm to interact with the black switch with metallic connectors",
+    "Press the rectangular black plastic switch with the left arm",
+    "Click the compact switch with toggle on top with robotic precision",
+    "Engage the red and black switch using the left arm",
+    "Trigger the rectangular black plastic switch without referencing the left arm",
+    "Interact with the red-top black switch directly",
+    "Trigger the red and black switch using the left arm",
+    "Initiate the compact switch with toggle on top by clicking",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Activate the hand-sized switch with connector prongs directly",
+    "Trigger the small switch with precision",
+    "Engage the switch with curved red toggle using the left arm.",
+    "Activate the rectangular black plastic switch via the left arm",
+    "Move to the hand-sized switch with connector prongs and click it.",
+    "Use the left arm to engage the red-top black switch",
+    "Engage the left arm to press the black switch with metallic connectors",
+    "Engage the black switch with metallic connectors using the robotic arm",
+    "Engage with the red and black switch manually",
+    "Operate the compact switch with toggle on top with the left arm",
+    "Press the plastic switch with metal terminals via automation",
+    "Command the left arm to engage the rectangular black plastic switch",
+    "Click on the small switch precisely",
+    "Activate the plastic switch with metal terminals by pressing it",
+    "Deploy the left arm to operate the red and black switch",
+    "Press the red-top black switch carefully with the left arm",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Toggle the red-top black switch with the left arm.",
+    "Interact with the compact switch with toggle on top.",
+    "Push the red-top black switch via the left arm.",
+    "Tap the red and black switch to engage it",
+    "Set the switch at the switch with curved red toggle",
+    "Activate the small switch with the left arm.",
+    "Operate the left arm to engage the black switch with metallic connectors",
+    "Set the left arm to press the black switch with metallic connectors",
+    "Press the black switch with metallic connectors directly",
+    "Press the small switch using the left arm.",
+    "Press the small switch to activate.",
+    "Switch the rectangular black plastic switch to its active state",
+    "Use the left arm for switching the black switch",
+    "Direct the left arm to operate the red and black switch",
+    "Click the red and black switch to activate it",
+    "Click the switch with curved red toggle directly.",
+    "Locate and press the black switch",
+    "Approach and tap the black base switch with red toggle via the left arm",
+    "Deploy the left arm to press the rectangular black plastic switch",
+    "Activate the the compact switch with toggle on top using the left arm",
+    "Press the rectangular switch with curved lever using robotic control",
+    "Click the compact switch with toggle on top using automated tools",
+    "Directly interact with the compact switch with toggle on top",
+    "Locate and press the plastic switch with metal terminals",
+    "Use the left arm to interact with the compact switch with toggle on top",
+    "Press the small switch with the left arm",
+    "Click the rectangular black plastic switch with robotic precision",
+    "Engage the red-top black switch using the left arm",
+    "Trigger the rectangular switch with curved lever without referencing the left arm",
+    "Interact with the small switch directly",
+    "Trigger the black base switch with red toggle using the left arm",
+    "Initiate the red-top black switch by clicking",
+    "Activate the black switch with metallic connectors with robotic precision",
+    "Activate the rectangular black plastic switch directly"
+  ],
+  "unseen": [
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the simple toggle switch",
+    "Click the simple toggle switch with the left arm.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm.",
+    "Direct the left arm to click the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the switch with two metal prongs using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the left arm",
+    "Click the smooth black switch with red lever using the left arm",
+    "Press the smooth black switch with red lever using the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch with the left arm.",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the simple toggle switch",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the left arm",
+    "Click the simple toggle switch using the left arm",
+    "Press the simple toggle switch using the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm",
+    "Click the switch with two metal prongs using the left arm",
+    "Press the switch with two metal prongs using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode74.json b/turn_switch/piper_randomized_500/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..78f98e0d08a521d76b60ed2897bbe8d0add6f522
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the medium-sized black rectangular switch with a press.",
+    "Press the black switch with slim profile with the right arm",
+    "Click the black switch with matte coating directly.",
+    "Interact with the compact rectangular black switch.",
+    "Direct the right arm to operate the black switch",
+    "Press the black switch with matte coating carefully with the right arm",
+    "Press the switch with slanted sides via automation",
+    "Move to the control switch and click it.",
+    "Deploy the right arm to operate the palm-sized black switch",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Activate the control switch with the right arm.",
+    "Engage the right arm to press the palm-sized black switch",
+    "Push the sleek black rectangular switch via the right arm.",
+    "Command the right arm to engage the compact rectangular black switch",
+    "Toggle the black rectangular control switch with the right arm.",
+    "Press the black switch with matte coating to activate.",
+    "Press the black switch using robotic control",
+    "Click the control switch with robotic precision",
+    "Trigger the black switch without referencing the right arm",
+    "Activate the black rectangular control switch with robotic precision",
+    "Approach and tap the palm-sized black switch via the right arm",
+    "Use the right arm for switching the slanted-edge plastic black switch",
+    "Press the compact rectangular black switch using the right arm.",
+    "Trigger the rectangular switch with smooth surface using the right arm",
+    "Deploy the right arm to press the sleek black rectangular switch",
+    "Use the right arm to interact with the palm-sized black switch",
+    "Locate and press the medium-sized black rectangular switch",
+    "Tap the control switch to engage it",
+    "Engage the medium-sized black rectangular switch using the robotic arm",
+    "Activate the switch with slanted sides directly",
+    "Operate the right arm to engage the palm-sized black switch",
+    "Trigger the medium-sized black rectangular switch with precision",
+    "Engage with the sleek black rectangular switch manually",
+    "Click the black switch with matte coating to activate it",
+    "Engage the slanted-edge plastic black switch using the right arm.",
+    "Set the right arm to press the sleek black rectangular switch",
+    "Set the switch at the switch with slanted sides",
+    "Use the right arm to engage the black rectangular control switch",
+    "Press the black switch with slim profile directly",
+    "Operate the black rectangular control switch with the right arm",
+    "Initiate the switch with slanted sides by clicking",
+    "Activate the palm-sized black switch by pressing it",
+    "Click the black switch with slim profile using automated tools",
+    "Activate the control switch via the right arm",
+    "Switch the palm-sized black switch to its active state",
+    "Directly interact with the sleek black rectangular switch",
+    "Activate the the control switch using the right arm",
+    "Locate and press the black rectangular control switch",
+    "Engage the sleek black rectangular switch using the right arm",
+    "Interact with the switch with slanted sides directly",
+    "Engage the palm-sized black switch with a press.",
+    "Press the sleek black rectangular switch with the right arm",
+    "Click the control switch directly.",
+    "Interact with the black switch.",
+    "Direct the right arm to operate the control switch",
+    "Press the switch with slanted sides carefully with the right arm",
+    "Press the rectangular switch with smooth surface via automation",
+    "Move to the control switch and click it.",
+    "Deploy the right arm to operate the black rectangular control switch",
+    "Click on the control switch precisely",
+    "Activate the slanted-edge plastic black switch with the right arm.",
+    "Engage the right arm to press the black switch",
+    "Push the medium-sized black rectangular switch via the right arm.",
+    "Command the right arm to engage the black switch",
+    "Toggle the slanted-edge plastic black switch with the right arm.",
+    "Press the medium-sized black rectangular switch to activate.",
+    "Press the sleek black rectangular switch using robotic control",
+    "Click the slanted-edge plastic black switch with robotic precision",
+    "Trigger the black switch with slim profile without referencing the right arm",
+    "Activate the sleek black rectangular switch with robotic precision",
+    "Approach and tap the black switch with matte coating via the right arm",
+    "Use the right arm for switching the medium-sized black rectangular switch",
+    "Press the black switch with slim profile using the right arm.",
+    "Trigger the black rectangular control switch using the right arm",
+    "Deploy the right arm to press the rectangular switch with smooth surface",
+    "Use the right arm to interact with the sleek black rectangular switch",
+    "Locate and press the palm-sized black switch",
+    "Tap the slanted-edge plastic black switch to engage it",
+    "Engage the black switch with slim profile using the robotic arm",
+    "Activate the black switch directly",
+    "Operate the right arm to engage the control switch",
+    "Trigger the palm-sized black switch with precision",
+    "Engage with the black switch manually",
+    "Click the black switch with matte coating to activate it",
+    "Engage the rectangular switch with smooth surface using the right arm.",
+    "Set the right arm to press the sleek black rectangular switch",
+    "Set the switch at the rectangular switch with smooth surface",
+    "Use the right arm to engage the sleek black rectangular switch",
+    "Press the black switch directly",
+    "Operate the compact rectangular black switch with the right arm",
+    "Initiate the black rectangular control switch by clicking",
+    "Activate the compact rectangular black switch by pressing it",
+    "Click the black switch with matte coating using automated tools",
+    "Activate the black switch via the right arm",
+    "Switch the rectangular switch with smooth surface to its active state",
+    "Directly interact with the compact rectangular black switch",
+    "Activate the the black rectangular control switch using the right arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Engage the control switch using the right arm",
+    "Interact with the black rectangular control switch directly"
+  ],
+  "unseen": [
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the smooth black switch using the right arm",
+    "Press the smooth black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the matte black plastic switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Direct the right arm to click the rectangular black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the smooth black switch using the right arm",
+    "Press the rectangular black switch using the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch.",
+    "Click the rectangular black switch using the right arm",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the matte black plastic switch",
+    "Direct the right arm to click the smooth black switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch.",
+    "Click the rectangular black switch using the right arm",
+    "Press the smooth black switch using the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the rectangular black switch with the right arm",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Direct the right arm to click the matte black plastic switch",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the smooth black switch.",
+    "Click the smooth black switch using the right arm",
+    "Press the rectangular black switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode76.json b/turn_switch/piper_randomized_500/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..42841d0f98ef625bb6db84ad937f7cf82dfd91a1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the switch trapezoid shape brown marking using the left arm.",
+    "Press the tan switch with the left arm",
+    "Trigger the smooth tan switch with textured sides without referencing the left arm",
+    "Operate the left arm to engage the switch with darker rectangle",
+    "Toggle the hand-sized switch tan smooth finish with the left arm.",
+    "Locate and press the small light tan switch",
+    "Press the tan switch to activate.",
+    "Press the hand-sized switch tan smooth finish carefully with the left arm",
+    "Interact with the rectangular switch with slanted sides.",
+    "Use the left arm for switching the light tan rectangular switch smooth finish",
+    "Press the hand-sized switch tan smooth finish using robotic control",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Switch the trapezoid-shaped switch smooth surface to its active state",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Click the plastic switch with angled edges directly.",
+    "Engage the left arm to press the smooth tan switch with textured sides",
+    "Click the small light tan switch with robotic precision",
+    "Initiate the angled switch light tan color by clicking",
+    "Set the left arm to press the smooth tan switch with textured sides",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Engage the switch trapezoid shape brown marking with a press.",
+    "Activate the small light tan switch by pressing it",
+    "Activate the switch trapezoid shape brown marking with the left arm.",
+    "Operate the small light tan switch with the left arm",
+    "Interact with the small light tan switch directly",
+    "Directly interact with the trapezoid-shaped switch smooth surface",
+    "Engage the angled switch light tan color using the left arm",
+    "Engage with the angled switch light tan color manually",
+    "Activate the rectangular switch with slanted sides directly",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Trigger the flat switch using the left arm",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Push the rectangular switch with slanted sides via the left arm.",
+    "Deploy the left arm to operate the hand-sized switch tan smooth finish",
+    "Press the plastic switch with angled edges directly",
+    "Command the left arm to engage the smooth tan switch with textured sides",
+    "Activate the hand-sized switch tan smooth finish via the left arm",
+    "Approach and tap the trapezoid-shaped switch smooth surface via the left arm",
+    "Use the left arm to interact with the plastic switch with angled edges",
+    "Direct the left arm to operate the hand-sized switch tan smooth finish",
+    "Deploy the left arm to press the angled switch light tan color",
+    "Activate the the plastic switch with angled edges using the left arm",
+    "Press the switch trapezoid shape brown marking via automation",
+    "Set the switch at the switch with darker rectangle",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Move to the smooth tan switch with textured sides and click it.",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Click the angled switch light tan color to activate it",
+    "Use the left arm to engage the switch with darker rectangle",
+    "Engage the flat switch using the left arm.",
+    "Press the rectangular switch with slanted sides with the left arm",
+    "Trigger the hand-sized switch tan smooth finish without referencing the left arm",
+    "Operate the left arm to engage the small light tan switch",
+    "Toggle the rectangular switch with slanted sides with the left arm.",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Press the tan switch to activate.",
+    "Press the small light tan switch carefully with the left arm",
+    "Interact with the plastic switch with angled edges.",
+    "Use the left arm for switching the rectangular switch with slanted sides",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Activate the rectangular switch with slanted sides with robotic precision",
+    "Switch the switch with darker rectangle to its active state",
+    "Click on the hand-sized switch tan smooth finish precisely",
+    "Click the tan switch directly.",
+    "Engage the left arm to press the switch with darker rectangle",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Initiate the switch with darker rectangle by clicking",
+    "Set the left arm to press the plastic switch with angled edges",
+    "Locate and press the rectangular switch with slanted sides",
+    "Engage the switch with darker rectangle with a press.",
+    "Activate the switch with darker rectangle by pressing it",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Operate the light tan rectangular switch smooth finish with the left arm",
+    "Interact with the angled switch light tan color directly",
+    "Directly interact with the flat switch",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Engage with the switch with darker rectangle manually",
+    "Activate the angled switch light tan color directly",
+    "Tap the trapezoid-shaped switch smooth surface to engage it",
+    "Trigger the smooth tan switch with textured sides using the left arm",
+    "Engage the switch with darker rectangle using the robotic arm",
+    "Push the trapezoid-shaped switch smooth surface via the left arm.",
+    "Deploy the left arm to operate the small light tan switch",
+    "Press the switch with darker rectangle directly",
+    "Command the left arm to engage the tan switch",
+    "Activate the flat switch via the left arm",
+    "Approach and tap the smooth tan switch with textured sides via the left arm",
+    "Use the left arm to interact with the plastic switch with angled edges",
+    "Direct the left arm to operate the plastic switch with angled edges",
+    "Deploy the left arm to press the hand-sized switch tan smooth finish",
+    "Activate the the switch trapezoid shape brown marking using the left arm",
+    "Press the flat switch via automation",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Press the rectangular switch with slanted sides using the left arm.",
+    "Trigger the smooth tan switch with textured sides with precision",
+    "Move to the flat switch and click it.",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Use the left arm to engage the smooth tan switch with textured sides"
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the left arm to press the small flat switch tan top.",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the small flat switch tan top",
+    "Use the left arm to press the small flat switch tan top.",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the small flat switch tan top",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the small flat switch tan top",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the left arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Activate the switch at the lightweight plastic switch angled edges"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode77.json b/turn_switch/piper_randomized_500/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5e32fa9b996dd621881429180ccf8264b6de39
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the right arm to engage the rectangular switch",
+    "Set the switch at the red and black electrical switch",
+    "Activate the toggle switch with black housing via the right arm",
+    "Activate the two-tone red black switch directly",
+    "Click the toggle switch with black housing using automated tools",
+    "Engage with the metal-pronged black switch manually",
+    "Click on the small switch with red lever precisely",
+    "Activate the metal-pronged black switch by pressing it",
+    "Use the right arm to interact with the toggle switch with black housing",
+    "Interact with the two-tone red black switch.",
+    "Trigger the small switch with red lever without referencing the right arm",
+    "Deploy the right arm to press the rectangular switch",
+    "Press the toggle switch with black housing via automation",
+    "Locate and press the metal-pronged black switch",
+    "Click the rectangular switch with robotic precision",
+    "Trigger the switch with three metal pins with precision",
+    "Activate the the toggle switch with black housing using the right arm",
+    "Initiate the toggle switch with black housing by clicking",
+    "Push the tiny rectangular switch via the right arm.",
+    "Press the black base switch with the right arm",
+    "Press the red and black electrical switch using the right arm.",
+    "Activate the smooth red switch with labels with the right arm.",
+    "Command the right arm to engage the plastic switch with metal prongs",
+    "Tap the plastic switch with metal prongs to engage it",
+    "Press the tiny rectangular switch carefully with the right arm",
+    "Toggle the toggle switch with black housing with the right arm.",
+    "Deploy the right arm to operate the rectangular switch",
+    "Engage the metal-pronged black switch using the robotic arm",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Engage the metal-pronged black switch with a press.",
+    "Click the switch for turning circuits on off to activate it",
+    "Locate and press the two-tone red black switch",
+    "Engage the switch with three metal pins using the right arm.",
+    "Press the switch with three metal pins to activate.",
+    "Press the black base switch using robotic control",
+    "Engage the smooth red switch with labels using the right arm",
+    "Trigger the switch with three metal pins using the right arm",
+    "Engage the right arm to press the switch with three metal pins",
+    "Interact with the red and black electrical switch directly",
+    "Approach and tap the plastic switch with metal prongs via the right arm",
+    "Use the right arm for switching the switch for turning circuits on off",
+    "Click the rectangular switch directly.",
+    "Switch the tiny rectangular switch to its active state",
+    "Set the right arm to press the tiny rectangular switch",
+    "Directly interact with the black base switch",
+    "Activate the plastic switch with metal prongs with robotic precision",
+    "Direct the right arm to operate the black base switch",
+    "Operate the smooth red switch with labels with the right arm",
+    "Press the switch with three metal pins directly",
+    "Use the right arm to engage the toggle switch with black housing",
+    "Operate the right arm to engage the black base switch",
+    "Set the switch at the switch for turning circuits on off",
+    "Activate the two-tone red black switch via the right arm",
+    "Activate the switch with three metal pins directly",
+    "Click the metal-pronged black switch using automated tools",
+    "Engage with the red and black electrical switch manually",
+    "Click on the plastic switch with metal prongs precisely",
+    "Activate the switch with three metal pins by pressing it",
+    "Use the right arm to interact with the two-tone red black switch",
+    "Interact with the switch with three metal pins.",
+    "Trigger the two-tone red black switch without referencing the right arm",
+    "Deploy the right arm to press the two-tone red black switch",
+    "Press the two-tone red black switch via automation",
+    "Locate and press the switch with three metal pins",
+    "Click the small switch with red lever with robotic precision",
+    "Trigger the small switch with red lever with precision",
+    "Activate the the plastic switch with metal prongs using the right arm",
+    "Initiate the smooth red switch with labels by clicking",
+    "Push the rectangular switch via the right arm.",
+    "Press the switch with three metal pins with the right arm",
+    "Press the switch for turning circuits on off using the right arm.",
+    "Activate the tiny rectangular switch with the right arm.",
+    "Command the right arm to engage the rectangular switch",
+    "Tap the metal-pronged black switch to engage it",
+    "Press the rectangular switch carefully with the right arm",
+    "Toggle the red and black electrical switch with the right arm.",
+    "Deploy the right arm to operate the two-tone red black switch",
+    "Engage the switch for turning circuits on off using the robotic arm",
+    "Move to the smooth red switch with labels and click it.",
+    "Engage the toggle switch with black housing with a press.",
+    "Click the small switch with red lever to activate it",
+    "Locate and press the small switch with red lever",
+    "Engage the plastic switch with metal prongs using the right arm.",
+    "Press the switch for turning circuits on off to activate.",
+    "Press the switch with three metal pins using robotic control",
+    "Engage the red and black electrical switch using the right arm",
+    "Trigger the rectangular switch using the right arm",
+    "Engage the right arm to press the switch for turning circuits on off",
+    "Interact with the red and black electrical switch directly",
+    "Approach and tap the metal-pronged black switch via the right arm",
+    "Use the right arm for switching the two-tone red black switch",
+    "Click the smooth red switch with labels directly.",
+    "Switch the switch with three metal pins to its active state",
+    "Set the right arm to press the metal-pronged black switch",
+    "Directly interact with the rectangular switch",
+    "Activate the smooth red switch with labels with robotic precision",
+    "Direct the right arm to operate the toggle switch with black housing",
+    "Operate the smooth red switch with labels with the right arm",
+    "Press the two-tone red black switch directly",
+    "Use the right arm to engage the switch for turning circuits on off"
+  ],
+  "unseen": [
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Move and click the the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Use the right arm to press the red toggle switch",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the curved toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Press the curved toggle switch using the right arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Use the right arm to press the curved toggle switch",
+    "Click the curved toggle switch using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode79.json b/turn_switch/piper_randomized_500/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7cb228a6854776307432c6d39d8882947500fd
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the small light tan switch directly",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Directly interact with the switch trapezoid shape brown marking",
+    "Press the flat switch using the right arm.",
+    "Set the switch at the switch with darker rectangle",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Operate the right arm to engage the smooth tan switch with textured sides",
+    "Move to the tan switch and click it.",
+    "Approach and tap the flat switch via the right arm",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Activate the light tan rectangular switch smooth finish with robotic precision",
+    "Press the angled switch light tan color carefully with the right arm",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Command the right arm to engage the light tan rectangular switch smooth finish",
+    "Locate and press the flat switch",
+    "Activate the light tan rectangular switch smooth finish by pressing it",
+    "Trigger the smooth tan switch with textured sides without referencing the right arm",
+    "Activate the angled switch light tan color directly",
+    "Trigger the light tan rectangular switch smooth finish using the right arm",
+    "Interact with the light tan rectangular switch smooth finish directly",
+    "Initiate the smooth tan switch with textured sides by clicking",
+    "Press the tan switch via automation",
+    "Press the plastic switch with angled edges using robotic control",
+    "Deploy the right arm to press the small light tan switch",
+    "Click the small light tan switch using automated tools",
+    "Use the right arm to interact with the tan switch",
+    "Set the right arm to press the trapezoid-shaped switch smooth surface",
+    "Engage the right arm to press the tan switch",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Interact with the rectangular switch with slanted sides.",
+    "Engage the flat switch using the right arm.",
+    "Deploy the right arm to operate the switch with darker rectangle",
+    "Tap the flat switch to engage it",
+    "Press the tan switch with the right arm",
+    "Switch the angled switch light tan color to its active state",
+    "Engage the tan switch using the right arm",
+    "Activate the the switch trapezoid shape brown marking using the right arm",
+    "Operate the small light tan switch with the right arm",
+    "Direct the right arm to operate the light tan rectangular switch smooth finish",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Click the tan switch to activate it",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Push the angled switch light tan color via the right arm.",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Locate and press the angled switch light tan color",
+    "Toggle the light tan rectangular switch smooth finish with the right arm.",
+    "Press the angled switch light tan color directly",
+    "Engage the angled switch light tan color with a press.",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Directly interact with the flat switch",
+    "Press the switch trapezoid shape brown marking using the right arm.",
+    "Set the switch at the angled switch light tan color",
+    "Activate the hand-sized switch tan smooth finish with the right arm.",
+    "Operate the right arm to engage the flat switch",
+    "Move to the tan switch and click it.",
+    "Approach and tap the tan switch via the right arm",
+    "Use the right arm to engage the switch with darker rectangle",
+    "Click on the switch trapezoid shape brown marking precisely",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Command the right arm to engage the switch trapezoid shape brown marking",
+    "Locate and press the small light tan switch",
+    "Activate the switch with darker rectangle by pressing it",
+    "Trigger the rectangular switch with slanted sides without referencing the right arm",
+    "Activate the small light tan switch directly",
+    "Trigger the flat switch using the right arm",
+    "Interact with the plastic switch with angled edges directly",
+    "Initiate the angled switch light tan color by clicking",
+    "Press the angled switch light tan color via automation",
+    "Press the small light tan switch using robotic control",
+    "Deploy the right arm to press the plastic switch with angled edges",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Use the right arm to interact with the switch trapezoid shape brown marking",
+    "Set the right arm to press the plastic switch with angled edges",
+    "Engage the right arm to press the smooth tan switch with textured sides",
+    "Trigger the smooth tan switch with textured sides with precision",
+    "Click the small light tan switch with robotic precision",
+    "Interact with the switch trapezoid shape brown marking.",
+    "Engage the angled switch light tan color using the right arm.",
+    "Deploy the right arm to operate the switch with darker rectangle",
+    "Tap the angled switch light tan color to engage it",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Switch the light tan rectangular switch smooth finish to its active state",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Activate the the light tan rectangular switch smooth finish using the right arm",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Press the tan switch to activate.",
+    "Click the rectangular switch with slanted sides to activate it",
+    "Click the hand-sized switch tan smooth finish directly.",
+    "Push the trapezoid-shaped switch smooth surface via the right arm.",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Locate and press the switch with darker rectangle",
+    "Toggle the trapezoid-shaped switch smooth surface with the right arm."
+  ],
+  "unseen": [
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm.",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Press the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the small flat switch tan top"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode81.json b/turn_switch/piper_randomized_500/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..25513b575aacf17859c5b033a01d036707c3e902
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the compact switch with flat base",
+    "Deploy the right arm to operate the switch",
+    "Engage the square switch with red bar using the right arm.",
+    "Click the red bar switch with robotic precision",
+    "Press the square switch with red bar to activate.",
+    "Push the gray switch with red toggle via the right arm.",
+    "Use the right arm for switching the square switch with red bar",
+    "Click the switch to activate it",
+    "Engage the electrical switch with protruding toggle with a press.",
+    "Tap the toggle switch light gray base to engage it",
+    "Press the light gray square switch carefully with the right arm",
+    "Use the right arm to engage the gray switch with red toggle",
+    "Activate the electrical switch with protruding toggle with robotic precision",
+    "Trigger the switch with thin red toggle using the right arm",
+    "Directly interact with the gray switch with red toggle",
+    "Press the red bar switch directly",
+    "Press the red bar switch with the right arm",
+    "Press the square switch with red bar using robotic control",
+    "Click the switch directly.",
+    "Deploy the right arm to press the compact switch with flat base",
+    "Locate and press the compact switch with flat base",
+    "Interact with the gray switch with red toggle.",
+    "Activate the red bar switch directly",
+    "Click on the electrical switch with protruding toggle precisely",
+    "Set the right arm to press the control switch with red lever",
+    "Command the right arm to engage the red bar switch",
+    "Trigger the control switch with red lever with precision",
+    "Toggle the square switch with red bar with the right arm.",
+    "Interact with the compact switch with flat base directly",
+    "Engage the right arm to press the switch",
+    "Switch the switch with thin red toggle to its active state",
+    "Press the control switch with red lever via automation",
+    "Engage the switch for electrical control using the right arm",
+    "Direct the right arm to operate the red bar switch",
+    "Click the switch with thin red toggle using automated tools",
+    "Press the compact switch with flat base using the right arm.",
+    "Engage with the red bar switch manually",
+    "Trigger the switch for electrical control without referencing the right arm",
+    "Activate the light gray square switch by pressing it",
+    "Activate the the switch for electrical control using the right arm",
+    "Engage the red bar switch using the robotic arm",
+    "Activate the switch for electrical control via the right arm",
+    "Set the switch at the gray switch with red toggle",
+    "Use the right arm to interact with the toggle switch light gray base",
+    "Operate the gray switch with red toggle with the right arm",
+    "Activate the switch with the right arm.",
+    "Initiate the square switch with red bar by clicking",
+    "Approach and tap the control switch with red lever via the right arm",
+    "Move to the toggle switch light gray base and click it.",
+    "Operate the right arm to engage the switch",
+    "Locate and press the control switch with red lever",
+    "Deploy the right arm to operate the compact switch with flat base",
+    "Engage the red bar switch using the right arm.",
+    "Click the electrical switch with protruding toggle with robotic precision",
+    "Press the light gray square switch to activate.",
+    "Push the switch via the right arm.",
+    "Use the right arm for switching the light gray square switch",
+    "Click the compact switch with flat base to activate it",
+    "Engage the compact switch with flat base with a press.",
+    "Tap the red bar switch to engage it",
+    "Press the electrical switch with protruding toggle carefully with the right arm",
+    "Use the right arm to engage the square switch with red bar",
+    "Activate the electrical switch with protruding toggle with robotic precision",
+    "Trigger the gray switch with red toggle using the right arm",
+    "Directly interact with the control switch with red lever",
+    "Press the gray switch with red toggle directly",
+    "Press the switch for electrical control with the right arm",
+    "Press the switch using robotic control",
+    "Click the control switch with red lever directly.",
+    "Deploy the right arm to press the electrical switch with protruding toggle",
+    "Locate and press the control switch with red lever",
+    "Interact with the light gray square switch.",
+    "Activate the red bar switch directly",
+    "Click on the switch for electrical control precisely",
+    "Set the right arm to press the red bar switch",
+    "Command the right arm to engage the red bar switch",
+    "Trigger the switch with precision",
+    "Toggle the compact switch with flat base with the right arm.",
+    "Interact with the square switch with red bar directly",
+    "Engage the right arm to press the light gray square switch",
+    "Switch the toggle switch light gray base to its active state",
+    "Press the plastic gray body switch via automation",
+    "Engage the switch using the right arm",
+    "Direct the right arm to operate the plastic gray body switch",
+    "Click the toggle switch light gray base using automated tools",
+    "Press the gray switch with red toggle using the right arm.",
+    "Engage with the plastic gray body switch manually",
+    "Trigger the switch with thin red toggle without referencing the right arm",
+    "Activate the control switch with red lever by pressing it",
+    "Activate the the control switch with red lever using the right arm",
+    "Engage the switch using the robotic arm",
+    "Activate the switch via the right arm",
+    "Set the switch at the toggle switch light gray base",
+    "Use the right arm to interact with the switch for electrical control",
+    "Operate the switch with thin red toggle with the right arm",
+    "Activate the switch with the right arm.",
+    "Initiate the gray switch with red toggle by clicking",
+    "Approach and tap the switch for electrical control via the right arm",
+    "Move to the control switch with red lever and click it.",
+    "Operate the right arm to engage the square switch with red bar"
+  ],
+  "unseen": [
+    "Move and click the the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the flat square gray switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the hand-sized square electrical switch with the right arm.",
+    "Move and click the the flat square gray switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the smooth gray base switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the hand-sized square electrical switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the flat square gray switch with the right arm",
+    "Click the flat square gray switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Press the smooth gray base switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the smooth gray base switch",
+    "Activate the switch at the smooth gray base switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the flat square gray switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the smooth gray base switch with the right arm",
+    "Use the right arm to press the hand-sized square electrical switch",
+    "Press the flat square gray switch using the right arm",
+    "Click the flat square gray switch with the right arm.",
+    "Move and click the the hand-sized square electrical switch",
+    "Activate the switch at the hand-sized square electrical switch",
+    "Click the flat square gray switch using the right arm",
+    "Direct the right arm to click the hand-sized square electrical switch",
+    "Use the right arm to press the hand-sized square electrical switch.",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the smooth gray base switch",
+    "Press the flat square gray switch using the right arm",
+    "Click the smooth gray base switch with the right arm.",
+    "Move and click the the smooth gray base switch",
+    "Activate the switch at the flat square gray switch",
+    "Click the smooth gray base switch using the right arm",
+    "Direct the right arm to click the flat square gray switch",
+    "Use the right arm to press the smooth gray base switch.",
+    "Click the smooth gray base switch with the right arm",
+    "Click the hand-sized square electrical switch with the right arm",
+    "Use the right arm to press the flat square gray switch",
+    "Press the hand-sized square electrical switch using the right arm",
+    "Click the flat square gray switch with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode82.json b/turn_switch/piper_randomized_500/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b46a788be09b8ae65d46a517c398eff73252d46
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to engage the red and black switch",
+    "Activate the the hand-sized switch with connector prongs using the right arm",
+    "Press the black switch with the right arm",
+    "Activate the black switch with metallic connectors with robotic precision",
+    "Press the black switch via automation",
+    "Use the right arm for switching the small switch",
+    "Locate and press the red and black switch",
+    "Engage with the black base switch with red toggle manually",
+    "Direct the right arm to operate the switch with curved red toggle",
+    "Click the small switch using automated tools",
+    "Engage the rectangular switch with curved lever using the right arm.",
+    "Use the right arm to interact with the black base switch with red toggle",
+    "Directly interact with the black switch with metallic connectors",
+    "Press the red-top black switch using robotic control",
+    "Deploy the right arm to press the red-top black switch",
+    "Click the black switch with robotic precision",
+    "Operate the rectangular black plastic switch with the right arm",
+    "Press the switch with curved red toggle using the right arm.",
+    "Set the right arm to press the red and black switch",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Push the red-top black switch via the right arm.",
+    "Press the compact switch with toggle on top directly",
+    "Switch the small switch to its active state",
+    "Trigger the compact switch with toggle on top without referencing the right arm",
+    "Trigger the red and black switch with precision",
+    "Engage the black switch with metallic connectors using the right arm",
+    "Interact with the black switch directly",
+    "Engage the rectangular switch with curved lever with a press.",
+    "Activate the black switch with metallic connectors via the right arm",
+    "Engage the right arm to press the rectangular switch with curved lever",
+    "Activate the rectangular switch with curved lever by pressing it",
+    "Click on the red and black switch precisely",
+    "Activate the small switch directly",
+    "Set the switch at the black base switch with red toggle",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Deploy the right arm to operate the plastic switch with metal terminals",
+    "Press the compact switch with toggle on top carefully with the right arm",
+    "Initiate the hand-sized switch with connector prongs by clicking",
+    "Trigger the black switch using the right arm",
+    "Engage the red-top black switch using the robotic arm",
+    "Click the black base switch with red toggle to activate it",
+    "Activate the switch with curved red toggle with the right arm.",
+    "Interact with the small switch.",
+    "Toggle the black switch with metallic connectors with the right arm.",
+    "Approach and tap the rectangular switch with curved lever via the right arm",
+    "Press the rectangular switch with curved lever to activate.",
+    "Operate the right arm to engage the black switch",
+    "Move to the rectangular black plastic switch and click it.",
+    "Command the right arm to engage the black base switch with red toggle",
+    "Use the right arm to engage the red and black switch",
+    "Activate the the hand-sized switch with connector prongs using the right arm",
+    "Press the rectangular switch with curved lever with the right arm",
+    "Activate the compact switch with toggle on top with robotic precision",
+    "Press the red and black switch via automation",
+    "Use the right arm for switching the plastic switch with metal terminals",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Engage with the compact switch with toggle on top manually",
+    "Direct the right arm to operate the small switch",
+    "Click the black switch using automated tools",
+    "Engage the compact switch with toggle on top using the right arm.",
+    "Use the right arm to interact with the rectangular switch with curved lever",
+    "Directly interact with the black switch",
+    "Press the small switch using robotic control",
+    "Deploy the right arm to press the plastic switch with metal terminals",
+    "Click the black switch with robotic precision",
+    "Operate the red and black switch with the right arm",
+    "Press the red and black switch using the right arm.",
+    "Set the right arm to press the plastic switch with metal terminals",
+    "Tap the plastic switch with metal terminals to engage it",
+    "Click the hand-sized switch with connector prongs directly.",
+    "Push the switch with curved red toggle via the right arm.",
+    "Press the black switch directly",
+    "Switch the red-top black switch to its active state",
+    "Trigger the red and black switch without referencing the right arm",
+    "Trigger the red and black switch with precision",
+    "Engage the small switch using the right arm",
+    "Interact with the red-top black switch directly",
+    "Engage the switch with curved red toggle with a press.",
+    "Activate the small switch via the right arm",
+    "Engage the right arm to press the small switch",
+    "Activate the plastic switch with metal terminals by pressing it",
+    "Click on the rectangular black plastic switch precisely",
+    "Activate the red-top black switch directly",
+    "Set the switch at the small switch",
+    "Locate and press the rectangular black plastic switch",
+    "Deploy the right arm to operate the compact switch with toggle on top",
+    "Press the hand-sized switch with connector prongs carefully with the right arm",
+    "Initiate the black base switch with red toggle by clicking",
+    "Trigger the black base switch with red toggle using the right arm",
+    "Engage the hand-sized switch with connector prongs using the robotic arm",
+    "Click the plastic switch with metal terminals to activate it",
+    "Activate the black switch with the right arm.",
+    "Interact with the plastic switch with metal terminals.",
+    "Toggle the plastic switch with metal terminals with the right arm.",
+    "Approach and tap the rectangular switch with curved lever via the right arm",
+    "Press the black switch with metallic connectors to activate.",
+    "Operate the right arm to engage the plastic switch with metal terminals",
+    "Move to the black switch and click it.",
+    "Command the right arm to engage the rectangular switch with curved lever"
+  ],
+  "unseen": [
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the simple toggle switch.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the simple toggle switch",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the switch with two metal prongs",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the right arm",
+    "Click the switch with two metal prongs with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the smooth black switch with red lever",
+    "Click the switch with two metal prongs using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the switch with two metal prongs",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the right arm to press the switch with two metal prongs.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the simple toggle switch",
+    "Use the right arm to press the simple toggle switch",
+    "Click the smooth black switch with red lever using the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the simple toggle switch",
+    "Use the right arm to press the simple toggle switch.",
+    "Direct the right arm to click the smooth black switch with red lever",
+    "Press the simple toggle switch using the right arm",
+    "Click the simple toggle switch with the right arm.",
+    "Move and click the the switch with two metal prongs",
+    "Use the right arm to press the simple toggle switch",
+    "Click the simple toggle switch using the right arm",
+    "Click the smooth black switch with red lever with the right arm",
+    "Click the simple toggle switch with the right arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Use the right arm to press the smooth black switch with red lever.",
+    "Direct the right arm to click the smooth black switch with red lever"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode83.json b/turn_switch/piper_randomized_500/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75226d81912d7e85a86233e3cf7b99d58784b12
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the black rectangular control switch via the right arm",
+    "Click the compact rectangular black switch using automated tools",
+    "Click the sleek black rectangular switch to activate it",
+    "Approach and tap the black switch with matte coating via the right arm",
+    "Trigger the black switch with slim profile using the right arm",
+    "Engage the palm-sized black switch with a press.",
+    "Deploy the right arm to operate the black switch with matte coating",
+    "Interact with the palm-sized black switch.",
+    "Press the slanted-edge plastic black switch carefully with the right arm",
+    "Press the black rectangular control switch with the right arm",
+    "Locate and press the black rectangular control switch",
+    "Activate the rectangular switch with smooth surface directly",
+    "Activate the black rectangular control switch with robotic precision",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Command the right arm to engage the switch with slanted sides",
+    "Use the right arm for switching the compact rectangular black switch",
+    "Operate the sleek black rectangular switch with the right arm",
+    "Use the right arm to engage the sleek black rectangular switch",
+    "Engage the medium-sized black rectangular switch using the right arm.",
+    "Set the right arm to press the switch with slanted sides",
+    "Press the black switch with slim profile directly",
+    "Engage the right arm to press the medium-sized black rectangular switch",
+    "Press the black switch with matte coating to activate.",
+    "Activate the switch with slanted sides by pressing it",
+    "Click on the slanted-edge plastic black switch precisely",
+    "Engage the black switch with slim profile using the right arm",
+    "Set the switch at the black switch with slim profile",
+    "Activate the the palm-sized black switch using the right arm",
+    "Interact with the black switch with matte coating directly",
+    "Move to the control switch and click it.",
+    "Directly interact with the black switch with slim profile",
+    "Push the switch with slanted sides via the right arm.",
+    "Trigger the black switch with matte coating without referencing the right arm",
+    "Click the slanted-edge plastic black switch directly.",
+    "Engage with the switch with slanted sides manually",
+    "Use the right arm to interact with the rectangular switch with smooth surface",
+    "Toggle the black switch with slim profile with the right arm.",
+    "Press the medium-sized black rectangular switch via automation",
+    "Click the rectangular switch with smooth surface with robotic precision",
+    "Activate the medium-sized black rectangular switch with the right arm.",
+    "Locate and press the palm-sized black switch",
+    "Switch the compact rectangular black switch to its active state",
+    "Deploy the right arm to press the black switch",
+    "Initiate the black switch with matte coating by clicking",
+    "Trigger the sleek black rectangular switch with precision",
+    "Direct the right arm to operate the black switch with matte coating",
+    "Tap the rectangular switch with smooth surface to engage it",
+    "Operate the right arm to engage the compact rectangular black switch",
+    "Press the switch with slanted sides using robotic control",
+    "Press the black switch using the right arm.",
+    "Activate the slanted-edge plastic black switch via the right arm",
+    "Click the palm-sized black switch using automated tools",
+    "Click the palm-sized black switch to activate it",
+    "Approach and tap the switch with slanted sides via the right arm",
+    "Trigger the slanted-edge plastic black switch using the right arm",
+    "Engage the compact rectangular black switch with a press.",
+    "Deploy the right arm to operate the black rectangular control switch",
+    "Interact with the sleek black rectangular switch.",
+    "Press the sleek black rectangular switch carefully with the right arm",
+    "Press the palm-sized black switch with the right arm",
+    "Locate and press the medium-sized black rectangular switch",
+    "Activate the black switch directly",
+    "Activate the rectangular switch with smooth surface with robotic precision",
+    "Engage the control switch using the robotic arm",
+    "Command the right arm to engage the control switch",
+    "Use the right arm for switching the compact rectangular black switch",
+    "Operate the switch with slanted sides with the right arm",
+    "Use the right arm to engage the compact rectangular black switch",
+    "Engage the sleek black rectangular switch using the right arm.",
+    "Set the right arm to press the medium-sized black rectangular switch",
+    "Press the black switch with matte coating directly",
+    "Engage the right arm to press the rectangular switch with smooth surface",
+    "Press the switch with slanted sides to activate.",
+    "Activate the black switch with slim profile by pressing it",
+    "Click on the control switch precisely",
+    "Engage the black switch using the right arm",
+    "Set the switch at the switch with slanted sides",
+    "Activate the the black switch with matte coating using the right arm",
+    "Interact with the rectangular switch with smooth surface directly",
+    "Move to the rectangular switch with smooth surface and click it.",
+    "Directly interact with the slanted-edge plastic black switch",
+    "Push the medium-sized black rectangular switch via the right arm.",
+    "Trigger the black switch with matte coating without referencing the right arm",
+    "Click the rectangular switch with smooth surface directly.",
+    "Engage with the sleek black rectangular switch manually",
+    "Use the right arm to interact with the black switch with slim profile",
+    "Toggle the palm-sized black switch with the right arm.",
+    "Press the black switch with matte coating via automation",
+    "Click the black switch with matte coating with robotic precision",
+    "Activate the medium-sized black rectangular switch with the right arm.",
+    "Locate and press the black switch",
+    "Switch the compact rectangular black switch to its active state",
+    "Deploy the right arm to press the control switch",
+    "Initiate the medium-sized black rectangular switch by clicking",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Direct the right arm to operate the black rectangular control switch",
+    "Tap the compact rectangular black switch to engage it",
+    "Operate the right arm to engage the switch with slanted sides",
+    "Press the black switch using robotic control",
+    "Press the black switch with matte coating using the right arm."
+  ],
+  "unseen": [
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the matte black plastic switch.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the matte black plastic switch",
+    "Activate the switch at the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the rectangular black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the matte black plastic switch using the right arm",
+    "Direct the right arm to click the rectangular black switch",
+    "Click the rectangular black switch with the right arm",
+    "Click the smooth black switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the smooth black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the smooth black switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the rectangular black switch using the right arm",
+    "Move and click the the rectangular black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch with the right arm",
+    "Use the right arm to press the smooth black switch.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the matte black plastic switch",
+    "Click the smooth black switch with the right arm",
+    "Click the matte black plastic switch with the right arm.",
+    "Click the matte black plastic switch using the right arm",
+    "Move and click the the smooth black switch",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the rectangular black switch",
+    "Click the smooth black switch with the right arm",
+    "Use the right arm to press the rectangular black switch.",
+    "Press the smooth black switch using the right arm",
+    "Direct the right arm to click the smooth black switch",
+    "Click the matte black plastic switch with the right arm",
+    "Click the rectangular black switch with the right arm.",
+    "Click the smooth black switch using the right arm",
+    "Move and click the the matte black plastic switch",
+    "Use the right arm to press the rectangular black switch",
+    "Activate the switch at the smooth black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode85.json b/turn_switch/piper_randomized_500/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42e3efdf60f6607e3ca1020b496d267c615d877
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the smooth tan switch with textured sides carefully with the right arm",
+    "Directly interact with the small light tan switch",
+    "Tap the flat switch to engage it",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Trigger the tan switch without referencing the right arm",
+    "Click on the smooth tan switch with textured sides precisely",
+    "Deploy the right arm to press the plastic switch with angled edges",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Engage the right arm to press the switch trapezoid shape brown marking",
+    "Activate the smooth tan switch with textured sides directly",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Trigger the hand-sized switch tan smooth finish using the right arm",
+    "Locate and press the small light tan switch",
+    "Switch the hand-sized switch tan smooth finish to its active state",
+    "Move to the switch with darker rectangle and click it.",
+    "Interact with the switch with darker rectangle directly",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Click the flat switch using automated tools",
+    "Interact with the rectangular switch with slanted sides.",
+    "Engage the switch with darker rectangle with a press.",
+    "Click the smooth tan switch with textured sides directly.",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Push the tan switch via the right arm.",
+    "Click the angled switch light tan color to activate it",
+    "Press the plastic switch with angled edges using the right arm.",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Direct the right arm to operate the switch with darker rectangle",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Press the flat switch to activate.",
+    "Engage the switch trapezoid shape brown marking using the right arm.",
+    "Set the right arm to press the tan switch",
+    "Press the small light tan switch directly",
+    "Activate the angled switch light tan color with robotic precision",
+    "Activate the the smooth tan switch with textured sides using the right arm",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Press the angled switch light tan color via automation",
+    "Trigger the rectangular switch with slanted sides with precision",
+    "Press the switch trapezoid shape brown marking with the right arm",
+    "Approach and tap the hand-sized switch tan smooth finish via the right arm",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Locate and press the plastic switch with angled edges",
+    "Engage with the plastic switch with angled edges manually",
+    "Engage the hand-sized switch tan smooth finish using the right arm",
+    "Toggle the flat switch with the right arm.",
+    "Command the right arm to engage the angled switch light tan color",
+    "Operate the right arm to engage the hand-sized switch tan smooth finish",
+    "Activate the rectangular switch with slanted sides with the right arm.",
+    "Use the right arm to engage the switch with darker rectangle",
+    "Operate the trapezoid-shaped switch smooth surface with the right arm",
+    "Press the tan switch carefully with the right arm",
+    "Directly interact with the plastic switch with angled edges",
+    "Tap the angled switch light tan color to engage it",
+    "Click the tan switch with robotic precision",
+    "Trigger the switch trapezoid shape brown marking without referencing the right arm",
+    "Click on the angled switch light tan color precisely",
+    "Deploy the right arm to press the light tan rectangular switch smooth finish",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Deploy the right arm to operate the rectangular switch with slanted sides",
+    "Engage the right arm to press the rectangular switch with slanted sides",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Set the switch at the rectangular switch with slanted sides",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Locate and press the plastic switch with angled edges",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Move to the smooth tan switch with textured sides and click it.",
+    "Interact with the flat switch directly",
+    "Engage the trapezoid-shaped switch smooth surface using the robotic arm",
+    "Click the tan switch using automated tools",
+    "Interact with the trapezoid-shaped switch smooth surface.",
+    "Engage the trapezoid-shaped switch smooth surface with a press.",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Activate the light tan rectangular switch smooth finish by pressing it",
+    "Push the hand-sized switch tan smooth finish via the right arm.",
+    "Click the switch with darker rectangle to activate it",
+    "Press the angled switch light tan color using the right arm.",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Direct the right arm to operate the angled switch light tan color",
+    "Initiate the small light tan switch by clicking",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Engage the tan switch using the right arm.",
+    "Set the right arm to press the hand-sized switch tan smooth finish",
+    "Press the smooth tan switch with textured sides directly",
+    "Activate the tan switch with robotic precision",
+    "Activate the the small light tan switch using the right arm",
+    "Use the right arm to interact with the tan switch",
+    "Press the switch with darker rectangle via automation",
+    "Trigger the switch with darker rectangle with precision",
+    "Press the rectangular switch with slanted sides with the right arm",
+    "Approach and tap the angled switch light tan color via the right arm",
+    "Press the tan switch using robotic control",
+    "Locate and press the angled switch light tan color",
+    "Engage with the small light tan switch manually",
+    "Engage the trapezoid-shaped switch smooth surface using the right arm",
+    "Toggle the flat switch with the right arm.",
+    "Command the right arm to engage the angled switch light tan color",
+    "Operate the right arm to engage the angled switch light tan color",
+    "Activate the hand-sized switch tan smooth finish with the right arm.",
+    "Use the right arm to engage the smooth tan switch with textured sides",
+    "Operate the plastic switch with angled edges with the right arm"
+  ],
+  "unseen": [
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Move and click the the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode86.json b/turn_switch/piper_randomized_500/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a06f7f59794c0c2f300129a5d03e547e35609b
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the rectangular switch with smooth surface directly",
+    "Direct the left arm to operate the black rectangular control switch",
+    "Move to the black switch with matte coating and click it.",
+    "Switch the black switch with matte coating to its active state",
+    "Press the black switch with matte coating with the left arm",
+    "Engage the black switch using the robotic arm",
+    "Set the switch at the black switch",
+    "Push the palm-sized black switch via the left arm.",
+    "Click on the black switch with slim profile precisely",
+    "Trigger the control switch with precision",
+    "Activate the the palm-sized black switch using the left arm",
+    "Activate the black rectangular control switch via the left arm",
+    "Engage the black switch using the left arm.",
+    "Engage the compact rectangular black switch with a press.",
+    "Engage the medium-sized black rectangular switch using the left arm",
+    "Operate the black switch with the left arm",
+    "Trigger the compact rectangular black switch without referencing the left arm",
+    "Trigger the sleek black rectangular switch using the left arm",
+    "Press the rectangular switch with smooth surface to activate.",
+    "Click the black switch with matte coating directly.",
+    "Click the black switch with matte coating using automated tools",
+    "Tap the medium-sized black rectangular switch to engage it",
+    "Activate the rectangular switch with smooth surface by pressing it",
+    "Engage with the black switch manually",
+    "Locate and press the control switch",
+    "Command the left arm to engage the medium-sized black rectangular switch",
+    "Approach and tap the compact rectangular black switch via the left arm",
+    "Set the left arm to press the black switch with slim profile",
+    "Press the control switch via automation",
+    "Deploy the left arm to press the medium-sized black rectangular switch",
+    "Operate the left arm to engage the black rectangular control switch",
+    "Interact with the black rectangular control switch.",
+    "Click the compact rectangular black switch to activate it",
+    "Click the palm-sized black switch with robotic precision",
+    "Deploy the left arm to operate the palm-sized black switch",
+    "Directly interact with the black rectangular control switch",
+    "Press the sleek black rectangular switch using the left arm.",
+    "Engage the left arm to press the switch with slanted sides",
+    "Use the left arm to interact with the rectangular switch with smooth surface",
+    "Activate the compact rectangular black switch with the left arm.",
+    "Press the black switch directly",
+    "Initiate the control switch by clicking",
+    "Press the palm-sized black switch carefully with the left arm",
+    "Activate the black switch with matte coating directly",
+    "Press the palm-sized black switch using robotic control",
+    "Use the left arm for switching the compact rectangular black switch",
+    "Toggle the medium-sized black rectangular switch with the left arm.",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Activate the sleek black rectangular switch with robotic precision",
+    "Locate and press the palm-sized black switch",
+    "Interact with the black switch with matte coating directly",
+    "Direct the left arm to operate the black switch",
+    "Move to the black switch with slim profile and click it.",
+    "Switch the black switch to its active state",
+    "Press the medium-sized black rectangular switch with the left arm",
+    "Engage the rectangular switch with smooth surface using the robotic arm",
+    "Set the switch at the palm-sized black switch",
+    "Push the sleek black rectangular switch via the left arm.",
+    "Click on the sleek black rectangular switch precisely",
+    "Trigger the slanted-edge plastic black switch with precision",
+    "Activate the the medium-sized black rectangular switch using the left arm",
+    "Activate the medium-sized black rectangular switch via the left arm",
+    "Engage the palm-sized black switch using the left arm.",
+    "Engage the black switch with matte coating with a press.",
+    "Engage the black switch with matte coating using the left arm",
+    "Operate the sleek black rectangular switch with the left arm",
+    "Trigger the black switch with slim profile without referencing the left arm",
+    "Trigger the rectangular switch with smooth surface using the left arm",
+    "Press the black rectangular control switch to activate.",
+    "Click the switch with slanted sides directly.",
+    "Click the black rectangular control switch using automated tools",
+    "Tap the rectangular switch with smooth surface to engage it",
+    "Activate the black switch by pressing it",
+    "Engage with the black rectangular control switch manually",
+    "Locate and press the black switch with slim profile",
+    "Command the left arm to engage the black switch",
+    "Approach and tap the medium-sized black rectangular switch via the left arm",
+    "Set the left arm to press the switch with slanted sides",
+    "Press the sleek black rectangular switch via automation",
+    "Deploy the left arm to press the medium-sized black rectangular switch",
+    "Operate the left arm to engage the black switch with matte coating",
+    "Interact with the switch with slanted sides.",
+    "Click the rectangular switch with smooth surface to activate it",
+    "Click the control switch with robotic precision",
+    "Deploy the left arm to operate the black switch with matte coating",
+    "Directly interact with the switch with slanted sides",
+    "Press the palm-sized black switch using the left arm.",
+    "Engage the left arm to press the palm-sized black switch",
+    "Use the left arm to interact with the black switch with matte coating",
+    "Activate the medium-sized black rectangular switch with the left arm.",
+    "Press the black switch with matte coating directly",
+    "Initiate the black switch by clicking",
+    "Press the compact rectangular black switch carefully with the left arm",
+    "Activate the rectangular switch with smooth surface directly",
+    "Press the black switch with matte coating using robotic control",
+    "Use the left arm for switching the control switch",
+    "Toggle the medium-sized black rectangular switch with the left arm.",
+    "Use the left arm to engage the compact rectangular black switch",
+    "Activate the sleek black rectangular switch with robotic precision",
+    "Locate and press the control switch"
+  ],
+  "unseen": [
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the smooth black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the smooth black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the smooth black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the rectangular black switch with the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the rectangular black switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Press the smooth black switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the smooth black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the matte black plastic switch using the left arm",
+    "Move and click the the rectangular black switch",
+    "Click the smooth black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Press the rectangular black switch using the left arm",
+    "Direct the left arm to click the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm.",
+    "Use the left arm to press the matte black plastic switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the smooth black switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the rectangular black switch",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the smooth black switch with the left arm.",
+    "Use the left arm to press the smooth black switch.",
+    "Click the smooth black switch with the left arm",
+    "Activate the switch at the matte black plastic switch",
+    "Click the smooth black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the matte black plastic switch with the left arm",
+    "Use the left arm to press the matte black plastic switch",
+    "Press the matte black plastic switch using the left arm",
+    "Direct the left arm to click the rectangular black switch",
+    "Click the rectangular black switch with the left arm.",
+    "Use the left arm to press the rectangular black switch.",
+    "Click the matte black plastic switch with the left arm",
+    "Activate the switch at the smooth black switch",
+    "Click the rectangular black switch using the left arm",
+    "Move and click the the matte black plastic switch",
+    "Click the rectangular black switch with the left arm",
+    "Use the left arm to press the rectangular black switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode88.json b/turn_switch/piper_randomized_500/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd2adc79aae5838a2ba0cbd00980a2ad4729bc1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the plastic switch with angled edges via the right arm",
+    "Click on the tan switch precisely",
+    "Engage the small light tan switch using the right arm",
+    "Engage the tan switch with a press.",
+    "Deploy the right arm to operate the switch with darker rectangle",
+    "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm",
+    "Interact with the small light tan switch.",
+    "Activate the hand-sized switch tan smooth finish with the right arm.",
+    "Engage with the plastic switch with angled edges manually",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Directly interact with the plastic switch with angled edges",
+    "Trigger the plastic switch with angled edges with precision",
+    "Interact with the switch trapezoid shape brown marking directly",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Initiate the rectangular switch with slanted sides by clicking",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Press the plastic switch with angled edges with the right arm",
+    "Direct the right arm to operate the small light tan switch",
+    "Click the light tan rectangular switch smooth finish directly.",
+    "Press the small light tan switch via automation",
+    "Tap the hand-sized switch tan smooth finish to engage it",
+    "Operate the hand-sized switch tan smooth finish with the right arm",
+    "Engage the right arm to press the plastic switch with angled edges",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Set the switch at the angled switch light tan color",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Activate the smooth tan switch with textured sides directly",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Operate the right arm to engage the switch with darker rectangle",
+    "Press the small light tan switch directly",
+    "Use the right arm for switching the smooth tan switch with textured sides",
+    "Approach and tap the tan switch via the right arm",
+    "Toggle the switch with darker rectangle with the right arm.",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Press the light tan rectangular switch smooth finish carefully with the right arm",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Press the tan switch using the right arm.",
+    "Use the right arm to engage the tan switch",
+    "Engage the switch trapezoid shape brown marking using the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Press the trapezoid-shaped switch smooth surface using robotic control",
+    "Activate the the plastic switch with angled edges using the right arm",
+    "Set the right arm to press the plastic switch with angled edges",
+    "Locate and press the switch trapezoid shape brown marking",
+    "Use the right arm to interact with the switch trapezoid shape brown marking",
+    "Click the angled switch light tan color using automated tools",
+    "Press the switch trapezoid shape brown marking to activate.",
+    "Command the right arm to engage the hand-sized switch tan smooth finish",
+    "Switch the small light tan switch to its active state",
+    "Activate the trapezoid-shaped switch smooth surface via the right arm",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Engage the flat switch using the right arm",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Deploy the right arm to operate the hand-sized switch tan smooth finish",
+    "Trigger the hand-sized switch tan smooth finish without referencing the right arm",
+    "Interact with the flat switch.",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Engage with the switch with darker rectangle manually",
+    "Push the rectangular switch with slanted sides via the right arm.",
+    "Directly interact with the flat switch",
+    "Trigger the small light tan switch with precision",
+    "Interact with the flat switch directly",
+    "Activate the rectangular switch with slanted sides by pressing it",
+    "Click the switch with darker rectangle with robotic precision",
+    "Initiate the tan switch by clicking",
+    "Click the flat switch to activate it",
+    "Press the smooth tan switch with textured sides with the right arm",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Click the switch trapezoid shape brown marking directly.",
+    "Press the trapezoid-shaped switch smooth surface via automation",
+    "Tap the plastic switch with angled edges to engage it",
+    "Operate the switch with darker rectangle with the right arm",
+    "Engage the right arm to press the rectangular switch with slanted sides",
+    "Locate and press the small light tan switch",
+    "Set the switch at the small light tan switch",
+    "Activate the tan switch with robotic precision",
+    "Activate the light tan rectangular switch smooth finish directly",
+    "Deploy the right arm to press the small light tan switch",
+    "Operate the right arm to engage the angled switch light tan color",
+    "Press the flat switch directly",
+    "Use the right arm for switching the plastic switch with angled edges",
+    "Approach and tap the rectangular switch with slanted sides via the right arm",
+    "Toggle the trapezoid-shaped switch smooth surface with the right arm.",
+    "Move to the plastic switch with angled edges and click it.",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Trigger the trapezoid-shaped switch smooth surface using the right arm",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Engage the plastic switch with angled edges using the right arm.",
+    "Engage the angled switch light tan color using the robotic arm",
+    "Press the switch trapezoid shape brown marking using robotic control",
+    "Activate the the switch trapezoid shape brown marking using the right arm",
+    "Set the right arm to press the smooth tan switch with textured sides",
+    "Locate and press the switch with darker rectangle",
+    "Use the right arm to interact with the trapezoid-shaped switch smooth surface",
+    "Click the light tan rectangular switch smooth finish using automated tools",
+    "Press the small light tan switch to activate.",
+    "Command the right arm to engage the plastic switch with angled edges",
+    "Switch the switch with darker rectangle to its active state"
+  ],
+  "unseen": [
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Direct the right arm to click the small flat switch tan top",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Use the right arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top with the right arm",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the right arm.",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Use the right arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Move and click the the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode89.json b/turn_switch/piper_randomized_500/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f34e52c62fd54b605d337621e3477eccaf1e7a1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Interact with the two-tone red black switch.",
+    "Set the right arm to press the two-tone red black switch",
+    "Tap the switch with three metal pins to engage it",
+    "Engage the tiny rectangular switch with a press.",
+    "Engage the right arm to press the black base switch",
+    "Activate the smooth red switch with labels with the right arm.",
+    "Deploy the right arm to press the plastic switch with metal prongs",
+    "Press the metal-pronged black switch carefully with the right arm",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Press the black base switch with the right arm",
+    "Operate the right arm to engage the small switch with red lever",
+    "Deploy the right arm to operate the two-tone red black switch",
+    "Approach and tap the switch with three metal pins via the right arm",
+    "Engage the rectangular switch using the robotic arm",
+    "Trigger the rectangular switch using the right arm",
+    "Activate the plastic switch with metal prongs via the right arm",
+    "Push the switch with three metal pins via the right arm.",
+    "Use the right arm to interact with the toggle switch with black housing",
+    "Activate the metal-pronged black switch with robotic precision",
+    "Engage the plastic switch with metal prongs using the right arm.",
+    "Click the red and black electrical switch directly.",
+    "Press the two-tone red black switch directly",
+    "Directly interact with the black base switch",
+    "Activate the the black base switch using the right arm",
+    "Press the small switch with red lever to activate.",
+    "Click the toggle switch with black housing using automated tools",
+    "Activate the switch with three metal pins directly",
+    "Press the metal-pronged black switch using robotic control",
+    "Operate the red and black electrical switch with the right arm",
+    "Move to the rectangular switch and click it.",
+    "Click the small switch with red lever to activate it",
+    "Direct the right arm to operate the metal-pronged black switch",
+    "Use the right arm to engage the plastic switch with metal prongs",
+    "Switch the plastic switch with metal prongs to its active state",
+    "Initiate the switch with three metal pins by clicking",
+    "Engage with the two-tone red black switch manually",
+    "Press the black base switch using the right arm.",
+    "Locate and press the small switch with red lever",
+    "Engage the toggle switch with black housing using the right arm",
+    "Set the switch at the tiny rectangular switch",
+    "Interact with the switch with three metal pins directly",
+    "Trigger the black base switch with precision",
+    "Toggle the rectangular switch with the right arm.",
+    "Click on the metal-pronged black switch precisely",
+    "Locate and press the metal-pronged black switch",
+    "Click the tiny rectangular switch with robotic precision",
+    "Command the right arm to engage the smooth red switch with labels",
+    "Activate the small switch with red lever by pressing it",
+    "Use the right arm for switching the black base switch",
+    "Press the smooth red switch with labels via automation",
+    "Interact with the switch with three metal pins.",
+    "Set the right arm to press the toggle switch with black housing",
+    "Tap the metal-pronged black switch to engage it",
+    "Engage the plastic switch with metal prongs with a press.",
+    "Engage the right arm to press the red and black electrical switch",
+    "Activate the switch with three metal pins with the right arm.",
+    "Deploy the right arm to press the tiny rectangular switch",
+    "Press the toggle switch with black housing carefully with the right arm",
+    "Trigger the tiny rectangular switch without referencing the right arm",
+    "Press the red and black electrical switch with the right arm",
+    "Operate the right arm to engage the metal-pronged black switch",
+    "Deploy the right arm to operate the toggle switch with black housing",
+    "Approach and tap the black base switch via the right arm",
+    "Engage the smooth red switch with labels using the robotic arm",
+    "Trigger the toggle switch with black housing using the right arm",
+    "Activate the metal-pronged black switch via the right arm",
+    "Push the tiny rectangular switch via the right arm.",
+    "Use the right arm to interact with the black base switch",
+    "Activate the tiny rectangular switch with robotic precision",
+    "Engage the switch with three metal pins using the right arm.",
+    "Click the small switch with red lever directly.",
+    "Press the rectangular switch directly",
+    "Directly interact with the switch for turning circuits on off",
+    "Activate the the tiny rectangular switch using the right arm",
+    "Press the black base switch to activate.",
+    "Click the black base switch using automated tools",
+    "Activate the tiny rectangular switch directly",
+    "Press the tiny rectangular switch using robotic control",
+    "Operate the black base switch with the right arm",
+    "Move to the toggle switch with black housing and click it.",
+    "Click the switch for turning circuits on off to activate it",
+    "Direct the right arm to operate the plastic switch with metal prongs",
+    "Use the right arm to engage the switch with three metal pins",
+    "Switch the red and black electrical switch to its active state",
+    "Initiate the smooth red switch with labels by clicking",
+    "Engage with the switch with three metal pins manually",
+    "Press the small switch with red lever using the right arm.",
+    "Locate and press the toggle switch with black housing",
+    "Engage the plastic switch with metal prongs using the right arm",
+    "Set the switch at the tiny rectangular switch",
+    "Interact with the plastic switch with metal prongs directly",
+    "Trigger the switch for turning circuits on off with precision",
+    "Toggle the rectangular switch with the right arm.",
+    "Click on the black base switch precisely",
+    "Locate and press the small switch with red lever",
+    "Click the smooth red switch with labels with robotic precision",
+    "Command the right arm to engage the black base switch",
+    "Activate the black base switch by pressing it",
+    "Use the right arm for switching the black base switch",
+    "Press the switch with three metal pins via automation"
+  ],
+  "unseen": [
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Use the right arm to press the red toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Use the right arm to press the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Use the right arm to press the red ON OFF labeled toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Click the red ON OFF labeled toggle switch using the right arm",
+    "Use the right arm to press the curved toggle switch.",
+    "Click the curved toggle switch with the right arm.",
+    "Use the right arm to press the red toggle switch",
+    "Press the curved toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the curved toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the curved toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red toggle switch using the right arm",
+    "Move and click the the red toggle switch",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the curved toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the red toggle switch using the right arm",
+    "Use the right arm to press the red ON OFF labeled toggle switch.",
+    "Click the red toggle switch with the right arm.",
+    "Use the right arm to press the curved toggle switch",
+    "Press the red ON OFF labeled toggle switch using the right arm",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the right arm",
+    "Direct the right arm to click the red toggle switch",
+    "Click the red toggle switch with the right arm",
+    "Click the curved toggle switch using the right arm",
+    "Use the right arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the right arm.",
+    "Use the right arm to press the red ON OFF labeled toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode91.json b/turn_switch/piper_randomized_500/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..2234bae2c0065a2c61582d7119657bd1246b93d1
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Deploy the left arm to press the switch with three metal pins",
+    "Activate the the smooth red switch with labels using the left arm",
+    "Switch the smooth red switch with labels to its active state",
+    "Operate the left arm to engage the black base switch",
+    "Tap the toggle switch with black housing to engage it",
+    "Deploy the left arm to operate the red and black electrical switch",
+    "Trigger the black base switch with precision",
+    "Engage the small switch with red lever using the robotic arm",
+    "Locate and press the plastic switch with metal prongs",
+    "Locate and press the two-tone red black switch",
+    "Approach and tap the small switch with red lever via the left arm",
+    "Press the red and black electrical switch directly",
+    "Activate the switch for turning circuits on off with the left arm.",
+    "Engage the toggle switch with black housing using the left arm.",
+    "Set the left arm to press the toggle switch with black housing",
+    "Direct the left arm to operate the switch with three metal pins",
+    "Engage the rectangular switch with a press.",
+    "Directly interact with the red and black electrical switch",
+    "Use the left arm to engage the switch for turning circuits on off",
+    "Trigger the two-tone red black switch using the left arm",
+    "Use the left arm for switching the red and black electrical switch",
+    "Press the toggle switch with black housing using robotic control",
+    "Click the switch with three metal pins using automated tools",
+    "Click the switch for turning circuits on off to activate it",
+    "Command the left arm to engage the metal-pronged black switch",
+    "Interact with the toggle switch with black housing.",
+    "Click on the two-tone red black switch precisely",
+    "Press the red and black electrical switch using the left arm.",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Click the two-tone red black switch with robotic precision",
+    "Use the left arm to interact with the metal-pronged black switch",
+    "Press the toggle switch with black housing with the left arm",
+    "Activate the small switch with red lever with robotic precision",
+    "Click the plastic switch with metal prongs directly.",
+    "Interact with the smooth red switch with labels directly",
+    "Activate the plastic switch with metal prongs by pressing it",
+    "Set the switch at the switch with three metal pins",
+    "Press the smooth red switch with labels to activate.",
+    "Engage the metal-pronged black switch using the left arm",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Press the smooth red switch with labels via automation",
+    "Activate the plastic switch with metal prongs directly",
+    "Trigger the two-tone red black switch without referencing the left arm",
+    "Initiate the switch with three metal pins by clicking",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Engage with the small switch with red lever manually",
+    "Toggle the metal-pronged black switch with the left arm.",
+    "Push the two-tone red black switch via the left arm.",
+    "Engage the left arm to press the tiny rectangular switch",
+    "Activate the rectangular switch via the left arm",
+    "Deploy the left arm to press the toggle switch with black housing",
+    "Activate the the toggle switch with black housing using the left arm",
+    "Switch the red and black electrical switch to its active state",
+    "Operate the left arm to engage the small switch with red lever",
+    "Tap the toggle switch with black housing to engage it",
+    "Deploy the left arm to operate the tiny rectangular switch",
+    "Trigger the switch with three metal pins with precision",
+    "Engage the switch for turning circuits on off using the robotic arm",
+    "Locate and press the two-tone red black switch",
+    "Locate and press the smooth red switch with labels",
+    "Approach and tap the black base switch via the left arm",
+    "Press the plastic switch with metal prongs directly",
+    "Activate the two-tone red black switch with the left arm.",
+    "Engage the metal-pronged black switch using the left arm.",
+    "Set the left arm to press the black base switch",
+    "Direct the left arm to operate the switch for turning circuits on off",
+    "Engage the black base switch with a press.",
+    "Directly interact with the black base switch",
+    "Use the left arm to engage the toggle switch with black housing",
+    "Trigger the black base switch using the left arm",
+    "Use the left arm for switching the switch with three metal pins",
+    "Press the black base switch using robotic control",
+    "Click the toggle switch with black housing using automated tools",
+    "Click the switch with three metal pins to activate it",
+    "Command the left arm to engage the toggle switch with black housing",
+    "Interact with the black base switch.",
+    "Click on the red and black electrical switch precisely",
+    "Press the two-tone red black switch using the left arm.",
+    "Press the toggle switch with black housing carefully with the left arm",
+    "Click the toggle switch with black housing with robotic precision",
+    "Use the left arm to interact with the plastic switch with metal prongs",
+    "Press the smooth red switch with labels with the left arm",
+    "Activate the switch with three metal pins with robotic precision",
+    "Click the small switch with red lever directly.",
+    "Interact with the two-tone red black switch directly",
+    "Activate the switch with three metal pins by pressing it",
+    "Set the switch at the metal-pronged black switch",
+    "Press the red and black electrical switch to activate.",
+    "Engage the tiny rectangular switch using the left arm",
+    "Operate the toggle switch with black housing with the left arm",
+    "Press the small switch with red lever via automation",
+    "Activate the smooth red switch with labels directly",
+    "Trigger the two-tone red black switch without referencing the left arm",
+    "Initiate the two-tone red black switch by clicking",
+    "Move to the tiny rectangular switch and click it.",
+    "Engage with the small switch with red lever manually",
+    "Toggle the red and black electrical switch with the left arm.",
+    "Push the black base switch via the left arm.",
+    "Engage the left arm to press the red and black electrical switch",
+    "Activate the toggle switch with black housing via the left arm"
+  ],
+  "unseen": [
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the red toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the curved toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the curved toggle switch",
+    "Click the red toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Press the curved toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Activate the switch at the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Use the left arm to press the curved toggle switch.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Use the left arm to press the curved toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode93.json b/turn_switch/piper_randomized_500/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..b762ef49f60120304f317b4d786617e0b25b2cfe
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage with the tan switch manually",
+    "Use the right arm to engage the flat switch",
+    "Directly interact with the plastic switch with angled edges",
+    "Press the angled switch light tan color with the right arm",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Press the switch with darker rectangle using robotic control",
+    "Tap the switch trapezoid shape brown marking to engage it",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Activate the the light tan rectangular switch smooth finish using the right arm",
+    "Engage the smooth tan switch with textured sides using the robotic arm",
+    "Trigger the plastic switch with angled edges using the right arm",
+    "Operate the hand-sized switch tan smooth finish with the right arm",
+    "Interact with the plastic switch with angled edges.",
+    "Set the switch at the smooth tan switch with textured sides",
+    "Click the plastic switch with angled edges to activate it",
+    "Direct the right arm to operate the small light tan switch",
+    "Activate the flat switch by pressing it",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Toggle the plastic switch with angled edges with the right arm.",
+    "Deploy the right arm to operate the angled switch light tan color",
+    "Engage the small light tan switch using the right arm",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Activate the plastic switch with angled edges directly",
+    "Engage the hand-sized switch tan smooth finish with a press.",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Click the trapezoid-shaped switch smooth surface with robotic precision",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Set the right arm to press the tan switch",
+    "Approach and tap the plastic switch with angled edges via the right arm",
+    "Command the right arm to engage the trapezoid-shaped switch smooth surface",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Move to the switch with darker rectangle and click it.",
+    "Engage the hand-sized switch tan smooth finish using the right arm.",
+    "Activate the hand-sized switch tan smooth finish with robotic precision",
+    "Click the flat switch directly.",
+    "Trigger the angled switch light tan color without referencing the right arm",
+    "Press the rectangular switch with slanted sides directly",
+    "Interact with the flat switch directly",
+    "Click the switch trapezoid shape brown marking using automated tools",
+    "Operate the right arm to engage the plastic switch with angled edges",
+    "Trigger the angled switch light tan color with precision",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Initiate the angled switch light tan color by clicking",
+    "Engage the right arm to press the plastic switch with angled edges",
+    "Press the plastic switch with angled edges carefully with the right arm",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Push the plastic switch with angled edges via the right arm.",
+    "Click on the plastic switch with angled edges precisely",
+    "Use the right arm for switching the switch trapezoid shape brown marking",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Engage with the small light tan switch manually",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Directly interact with the angled switch light tan color",
+    "Press the tan switch with the right arm",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Press the rectangular switch with slanted sides using robotic control",
+    "Tap the small light tan switch to engage it",
+    "Press the small light tan switch via automation",
+    "Activate the the switch trapezoid shape brown marking using the right arm",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Trigger the angled switch light tan color using the right arm",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Interact with the rectangular switch with slanted sides.",
+    "Set the switch at the tan switch",
+    "Click the plastic switch with angled edges to activate it",
+    "Direct the right arm to operate the hand-sized switch tan smooth finish",
+    "Activate the switch with darker rectangle by pressing it",
+    "Switch the angled switch light tan color to its active state",
+    "Toggle the rectangular switch with slanted sides with the right arm.",
+    "Deploy the right arm to operate the hand-sized switch tan smooth finish",
+    "Engage the angled switch light tan color using the right arm",
+    "Locate and press the smooth tan switch with textured sides",
+    "Activate the trapezoid-shaped switch smooth surface directly",
+    "Engage the smooth tan switch with textured sides with a press.",
+    "Locate and press the switch with darker rectangle",
+    "Click the rectangular switch with slanted sides with robotic precision",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Set the right arm to press the switch trapezoid shape brown marking",
+    "Approach and tap the flat switch via the right arm",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Activate the switch trapezoid shape brown marking via the right arm",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Engage the plastic switch with angled edges using the right arm.",
+    "Activate the light tan rectangular switch smooth finish with robotic precision",
+    "Click the trapezoid-shaped switch smooth surface directly.",
+    "Trigger the light tan rectangular switch smooth finish without referencing the right arm",
+    "Press the angled switch light tan color directly",
+    "Interact with the small light tan switch directly",
+    "Click the smooth tan switch with textured sides using automated tools",
+    "Operate the right arm to engage the switch with darker rectangle",
+    "Trigger the angled switch light tan color with precision",
+    "Deploy the right arm to press the tan switch",
+    "Initiate the switch with darker rectangle by clicking",
+    "Engage the right arm to press the angled switch light tan color",
+    "Press the switch trapezoid shape brown marking carefully with the right arm",
+    "Use the right arm to interact with the switch with darker rectangle",
+    "Push the small light tan switch via the right arm.",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Use the right arm for switching the hand-sized switch tan smooth finish",
+    "Press the trapezoid-shaped switch smooth surface using the right arm."
+  ],
+  "unseen": [
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the small flat switch tan top using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the small flat switch tan top with the right arm.",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the switch flat tan top brown rectangle",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Direct the right arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Direct the right arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Use the right arm to press the small flat switch tan top",
+    "Use the right arm to press the small flat switch tan top.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm",
+    "Press the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the small flat switch tan top.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the switch flat tan top brown rectangle using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm.",
+    "Click the small flat switch tan top with the right arm",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the small flat switch tan top",
+    "Use the right arm to press the lightweight plastic switch angled edges",
+    "Use the right arm to press the lightweight plastic switch angled edges.",
+    "Direct the right arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the right arm",
+    "Click the switch flat tan top brown rectangle with the right arm",
+    "Press the lightweight plastic switch angled edges using the right arm",
+    "Click the lightweight plastic switch angled edges with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode94.json b/turn_switch/piper_randomized_500/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..22e6ca238c5ced638cf32f0a4fe1e7375a52fff3
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the rectangular switch with curved lever using the robotic arm",
+    "Click the rectangular switch with curved lever using automated tools",
+    "Engage the black switch with metallic connectors using the left arm",
+    "Operate the rectangular black plastic switch with the left arm",
+    "Press the black switch with metallic connectors via automation",
+    "Activate the black base switch with red toggle with the left arm.",
+    "Trigger the black switch using the left arm",
+    "Use the left arm to engage the red and black switch",
+    "Command the left arm to engage the red and black switch",
+    "Click the red and black switch with robotic precision",
+    "Interact with the black base switch with red toggle.",
+    "Set the left arm to press the compact switch with toggle on top",
+    "Activate the red and black switch by pressing it",
+    "Press the red and black switch with the left arm",
+    "Direct the left arm to operate the hand-sized switch with connector prongs",
+    "Set the switch at the rectangular switch with curved lever",
+    "Push the rectangular switch with curved lever via the left arm.",
+    "Use the left arm for switching the small switch",
+    "Engage the plastic switch with metal terminals using the left arm.",
+    "Initiate the rectangular switch with curved lever by clicking",
+    "Engage the hand-sized switch with connector prongs with a press.",
+    "Trigger the red and black switch with precision",
+    "Approach and tap the small switch via the left arm",
+    "Locate and press the small switch",
+    "Move to the black switch and click it.",
+    "Click the small switch directly.",
+    "Switch the plastic switch with metal terminals to its active state",
+    "Activate the the hand-sized switch with connector prongs using the left arm",
+    "Locate and press the rectangular black plastic switch",
+    "Activate the black switch via the left arm",
+    "Press the red-top black switch using robotic control",
+    "Press the hand-sized switch with connector prongs directly",
+    "Deploy the left arm to press the black base switch with red toggle",
+    "Interact with the black switch directly",
+    "Deploy the left arm to operate the red and black switch",
+    "Activate the red and black switch with robotic precision",
+    "Operate the left arm to engage the plastic switch with metal terminals",
+    "Trigger the compact switch with toggle on top without referencing the left arm",
+    "Click the plastic switch with metal terminals to activate it",
+    "Click on the red and black switch precisely",
+    "Engage the left arm to press the red and black switch",
+    "Engage with the rectangular switch with curved lever manually",
+    "Press the small switch using the left arm.",
+    "Tap the rectangular switch with curved lever to engage it",
+    "Toggle the red and black switch with the left arm.",
+    "Activate the red and black switch directly",
+    "Directly interact with the rectangular switch with curved lever",
+    "Press the compact switch with toggle on top carefully with the left arm",
+    "Use the left arm to interact with the black base switch with red toggle",
+    "Press the plastic switch with metal terminals to activate.",
+    "Engage the red-top black switch using the robotic arm",
+    "Click the plastic switch with metal terminals using automated tools",
+    "Engage the red and black switch using the left arm",
+    "Operate the plastic switch with metal terminals with the left arm",
+    "Press the switch with curved red toggle via automation",
+    "Activate the rectangular switch with curved lever with the left arm.",
+    "Trigger the compact switch with toggle on top using the left arm",
+    "Use the left arm to engage the rectangular black plastic switch",
+    "Command the left arm to engage the black switch",
+    "Click the black base switch with red toggle with robotic precision",
+    "Interact with the red-top black switch.",
+    "Set the left arm to press the small switch",
+    "Activate the black base switch with red toggle by pressing it",
+    "Press the hand-sized switch with connector prongs with the left arm",
+    "Direct the left arm to operate the compact switch with toggle on top",
+    "Set the switch at the rectangular black plastic switch",
+    "Push the red and black switch via the left arm.",
+    "Use the left arm for switching the black switch with metallic connectors",
+    "Engage the plastic switch with metal terminals using the left arm.",
+    "Initiate the plastic switch with metal terminals by clicking",
+    "Engage the compact switch with toggle on top with a press.",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Approach and tap the hand-sized switch with connector prongs via the left arm",
+    "Locate and press the rectangular switch with curved lever",
+    "Move to the black switch with metallic connectors and click it.",
+    "Click the small switch directly.",
+    "Switch the rectangular black plastic switch to its active state",
+    "Activate the the red-top black switch using the left arm",
+    "Locate and press the red-top black switch",
+    "Activate the black switch with metallic connectors via the left arm",
+    "Press the black base switch with red toggle using robotic control",
+    "Press the black switch directly",
+    "Deploy the left arm to press the small switch",
+    "Interact with the red and black switch directly",
+    "Deploy the left arm to operate the switch with curved red toggle",
+    "Activate the black base switch with red toggle with robotic precision",
+    "Operate the left arm to engage the red and black switch",
+    "Trigger the plastic switch with metal terminals without referencing the left arm",
+    "Click the black switch with metallic connectors to activate it",
+    "Click on the rectangular black plastic switch precisely",
+    "Engage the left arm to press the small switch",
+    "Engage with the rectangular black plastic switch manually",
+    "Press the hand-sized switch with connector prongs using the left arm.",
+    "Tap the small switch to engage it",
+    "Toggle the rectangular switch with curved lever with the left arm.",
+    "Activate the red-top black switch directly",
+    "Directly interact with the small switch",
+    "Press the small switch carefully with the left arm",
+    "Use the left arm to interact with the small switch",
+    "Press the rectangular switch with curved lever to activate."
+  ],
+  "unseen": [
+    "Press the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the simple toggle switch using the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the switch with two metal prongs with the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Click the smooth black switch with red lever with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the smooth black switch with red lever using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the switch with two metal prongs with the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the simple toggle switch with the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Press the simple toggle switch using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Use the left arm to press the switch with two metal prongs.",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Activate the switch at the simple toggle switch",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the smooth black switch with red lever",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the smooth black switch with red lever with the left arm",
+    "Move and click the the switch with two metal prongs",
+    "Click the smooth black switch with red lever with the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the switch with two metal prongs using the left arm",
+    "Click the switch with two metal prongs with the left arm.",
+    "Use the left arm to press the switch with two metal prongs",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the smooth black switch with red lever with the left arm",
+    "Activate the switch at the switch with two metal prongs",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Direct the left arm to click the simple toggle switch",
+    "Click the switch with two metal prongs using the left arm",
+    "Use the left arm to press the smooth black switch with red lever.",
+    "Click the simple toggle switch with the left arm",
+    "Move and click the the simple toggle switch",
+    "Click the simple toggle switch with the left arm",
+    "Activate the switch at the smooth black switch with red lever",
+    "Press the smooth black switch with red lever using the left arm",
+    "Click the simple toggle switch with the left arm.",
+    "Use the left arm to press the simple toggle switch",
+    "Direct the left arm to click the switch with two metal prongs",
+    "Click the simple toggle switch using the left arm",
+    "Use the left arm to press the simple toggle switch.",
+    "Click the switch with two metal prongs with the left arm",
+    "Move and click the the smooth black switch with red lever",
+    "Click the switch with two metal prongs with the left arm",
+    "Activate the switch at the smooth black switch with red lever"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode96.json b/turn_switch/piper_randomized_500/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebd580ad55d023cbdcfe3c217b5ad785351cb54
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the switch for turning circuits on off to engage it",
+    "Set the switch at the black base switch",
+    "Press the red and black electrical switch using robotic control",
+    "Engage the metal-pronged black switch using the left arm.",
+    "Click the plastic switch with metal prongs to activate it",
+    "Trigger the switch with three metal pins without referencing the left arm",
+    "Push the red and black electrical switch via the left arm.",
+    "Direct the left arm to operate the metal-pronged black switch",
+    "Operate the plastic switch with metal prongs with the left arm",
+    "Use the left arm to engage the metal-pronged black switch",
+    "Activate the rectangular switch by pressing it",
+    "Activate the plastic switch with metal prongs with the left arm.",
+    "Engage the black base switch with a press.",
+    "Command the left arm to engage the metal-pronged black switch",
+    "Engage with the black base switch manually",
+    "Approach and tap the rectangular switch via the left arm",
+    "Deploy the left arm to operate the plastic switch with metal prongs",
+    "Press the black base switch via automation",
+    "Trigger the red and black electrical switch with precision",
+    "Interact with the plastic switch with metal prongs directly",
+    "Interact with the toggle switch with black housing.",
+    "Switch the switch for turning circuits on off to its active state",
+    "Trigger the small switch with red lever using the left arm",
+    "Activate the toggle switch with black housing with robotic precision",
+    "Move to the plastic switch with metal prongs and click it.",
+    "Engage the left arm to press the switch with three metal pins",
+    "Press the switch with three metal pins with the left arm",
+    "Set the left arm to press the black base switch",
+    "Toggle the tiny rectangular switch with the left arm.",
+    "Initiate the toggle switch with black housing by clicking",
+    "Click on the red and black electrical switch precisely",
+    "Click the plastic switch with metal prongs using automated tools",
+    "Press the switch with three metal pins to activate.",
+    "Click the toggle switch with black housing directly.",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Press the switch with three metal pins carefully with the left arm",
+    "Operate the left arm to engage the small switch with red lever",
+    "Press the rectangular switch directly",
+    "Locate and press the two-tone red black switch",
+    "Activate the the rectangular switch using the left arm",
+    "Click the black base switch with robotic precision",
+    "Deploy the left arm to press the red and black electrical switch",
+    "Press the red and black electrical switch using the left arm.",
+    "Locate and press the plastic switch with metal prongs",
+    "Engage the switch for turning circuits on off using the left arm",
+    "Activate the plastic switch with metal prongs directly",
+    "Activate the toggle switch with black housing via the left arm",
+    "Use the left arm for switching the toggle switch with black housing",
+    "Directly interact with the switch with three metal pins",
+    "Use the left arm to interact with the small switch with red lever",
+    "Tap the small switch with red lever to engage it",
+    "Set the switch at the smooth red switch with labels",
+    "Press the switch with three metal pins using robotic control",
+    "Engage the red and black electrical switch using the left arm.",
+    "Click the plastic switch with metal prongs to activate it",
+    "Trigger the plastic switch with metal prongs without referencing the left arm",
+    "Push the toggle switch with black housing via the left arm.",
+    "Direct the left arm to operate the tiny rectangular switch",
+    "Operate the small switch with red lever with the left arm",
+    "Use the left arm to engage the black base switch",
+    "Activate the metal-pronged black switch by pressing it",
+    "Activate the two-tone red black switch with the left arm.",
+    "Engage the metal-pronged black switch with a press.",
+    "Command the left arm to engage the small switch with red lever",
+    "Engage with the small switch with red lever manually",
+    "Approach and tap the black base switch via the left arm",
+    "Deploy the left arm to operate the toggle switch with black housing",
+    "Press the switch for turning circuits on off via automation",
+    "Trigger the black base switch with precision",
+    "Interact with the two-tone red black switch directly",
+    "Interact with the red and black electrical switch.",
+    "Switch the two-tone red black switch to its active state",
+    "Trigger the metal-pronged black switch using the left arm",
+    "Activate the two-tone red black switch with robotic precision",
+    "Move to the toggle switch with black housing and click it.",
+    "Engage the left arm to press the two-tone red black switch",
+    "Press the small switch with red lever with the left arm",
+    "Set the left arm to press the switch for turning circuits on off",
+    "Toggle the two-tone red black switch with the left arm.",
+    "Initiate the black base switch by clicking",
+    "Click on the red and black electrical switch precisely",
+    "Click the smooth red switch with labels using automated tools",
+    "Press the smooth red switch with labels to activate.",
+    "Click the switch with three metal pins directly.",
+    "Engage the plastic switch with metal prongs using the robotic arm",
+    "Press the two-tone red black switch carefully with the left arm",
+    "Operate the left arm to engage the switch with three metal pins",
+    "Press the switch for turning circuits on off directly",
+    "Locate and press the toggle switch with black housing",
+    "Activate the the black base switch using the left arm",
+    "Click the red and black electrical switch with robotic precision",
+    "Deploy the left arm to press the switch with three metal pins",
+    "Press the metal-pronged black switch using the left arm.",
+    "Locate and press the tiny rectangular switch",
+    "Engage the tiny rectangular switch using the left arm",
+    "Activate the smooth red switch with labels directly",
+    "Activate the tiny rectangular switch via the left arm",
+    "Use the left arm for switching the switch for turning circuits on off",
+    "Directly interact with the red and black electrical switch",
+    "Use the left arm to interact with the red and black electrical switch"
+  ],
+  "unseen": [
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the curved toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the curved toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the red ON OFF labeled toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the curved toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red ON OFF labeled toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the red toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the curved toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the curved toggle switch with the left arm",
+    "Direct the left arm to click the red toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red ON OFF labeled toggle switch with the left arm.",
+    "Press the red ON OFF labeled toggle switch using the left arm",
+    "Activate the switch at the curved toggle switch",
+    "Click the red toggle switch using the left arm",
+    "Click the red toggle switch with the left arm",
+    "Use the left arm to press the red ON OFF labeled toggle switch",
+    "Use the left arm to press the red ON OFF labeled toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch",
+    "Move and click the the red toggle switch",
+    "Click the red toggle switch with the left arm.",
+    "Press the red toggle switch using the left arm",
+    "Activate the switch at the red toggle switch",
+    "Click the red ON OFF labeled toggle switch using the left arm",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Use the left arm to press the curved toggle switch",
+    "Use the left arm to press the red toggle switch.",
+    "Click the red ON OFF labeled toggle switch with the left arm",
+    "Direct the left arm to click the red ON OFF labeled toggle switch"
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode98.json b/turn_switch/piper_randomized_500/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..a149adf679a09f33ba62678df6d70e451db295b9
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the smooth gray switch using automated tools",
+    "Activate the gray switch with black buttons directly",
+    "Press the switch with trapezoidal base directly",
+    "Click the gray smooth surface switch directly.",
+    "Move to the gray plastic switch and click it.",
+    "Trigger the smooth gray switch using the left arm",
+    "Click the gray base with black buttons with robotic precision",
+    "Click the smooth gray switch to activate it",
+    "Push the gray switch with black buttons via the left arm.",
+    "Interact with the handheld switch.",
+    "Approach and tap the medium switch with trapezoidal base via the left arm",
+    "Interact with the smooth gray switch directly",
+    "Activate the switch with trapezoidal base with robotic precision",
+    "Press the gray plastic switch via automation",
+    "Engage the switch with trapezoidal base using the left arm.",
+    "Engage the left arm to press the trapezoidal base switch",
+    "Set the left arm to press the handheld switch",
+    "Trigger the switch with trapezoidal base with precision",
+    "Use the left arm to engage the gray smooth surface switch",
+    "Press the smooth gray switch using robotic control",
+    "Press the plastic switch with matte buttons carefully with the left arm",
+    "Engage the trapezoidal base switch with a press.",
+    "Operate the left arm to engage the two-button gray switch",
+    "Click on the two-button gray switch precisely",
+    "Activate the electric toggle switch by pressing it",
+    "Engage the gray smooth surface switch using the left arm",
+    "Toggle the gray base with black buttons with the left arm.",
+    "Activate the gray plastic switch via the left arm",
+    "Use the left arm to interact with the medium switch with trapezoidal base",
+    "Locate and press the trapezoidal base switch",
+    "Use the left arm for switching the gray smooth surface switch",
+    "Operate the gray smooth surface switch with the left arm",
+    "Deploy the left arm to operate the plastic switch with matte buttons",
+    "Direct the left arm to operate the medium switch with trapezoidal base",
+    "Initiate the trapezoidal base switch by clicking",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Activate the two-button gray switch with the left arm.",
+    "Locate and press the gray smooth surface switch",
+    "Directly interact with the medium switch with trapezoidal base",
+    "Set the switch at the smooth gray switch",
+    "Switch the smooth gray switch to its active state",
+    "Press the smooth gray switch using the left arm.",
+    "Deploy the left arm to press the gray switch with black buttons",
+    "Activate the the switch with trapezoidal base using the left arm",
+    "Command the left arm to engage the smooth gray switch",
+    "Tap the gray plastic switch to engage it",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Press the handheld switch with the left arm",
+    "Engage with the gray smooth surface switch manually",
+    "Press the handheld switch to activate.",
+    "Click the smooth gray switch using automated tools",
+    "Activate the gray plastic switch directly",
+    "Press the switch with trapezoidal base directly",
+    "Click the handheld switch directly.",
+    "Move to the trapezoidal base switch and click it.",
+    "Trigger the two-button gray switch using the left arm",
+    "Click the gray plastic switch with robotic precision",
+    "Click the handheld switch to activate it",
+    "Push the two-button gray switch via the left arm.",
+    "Interact with the trapezoidal base switch.",
+    "Approach and tap the electric toggle switch via the left arm",
+    "Interact with the gray plastic switch directly",
+    "Activate the trapezoidal base switch with robotic precision",
+    "Press the medium switch with trapezoidal base via automation",
+    "Engage the handheld switch using the left arm.",
+    "Engage the left arm to press the smooth gray switch",
+    "Set the left arm to press the two-button gray switch",
+    "Trigger the gray smooth surface switch with precision",
+    "Use the left arm to engage the trapezoidal base switch",
+    "Press the smooth gray switch using robotic control",
+    "Press the trapezoidal base switch carefully with the left arm",
+    "Engage the smooth gray switch with a press.",
+    "Operate the left arm to engage the switch with trapezoidal base",
+    "Click on the gray switch with black buttons precisely",
+    "Activate the gray base with black buttons by pressing it",
+    "Engage the gray plastic switch using the left arm",
+    "Toggle the medium switch with trapezoidal base with the left arm.",
+    "Activate the gray switch with black buttons via the left arm",
+    "Use the left arm to interact with the gray switch with black buttons",
+    "Locate and press the gray plastic switch",
+    "Use the left arm for switching the trapezoidal base switch",
+    "Operate the plastic switch with matte buttons with the left arm",
+    "Deploy the left arm to operate the handheld switch",
+    "Direct the left arm to operate the medium switch with trapezoidal base",
+    "Initiate the medium switch with trapezoidal base by clicking",
+    "Trigger the smooth gray switch without referencing the left arm",
+    "Activate the gray switch with black buttons with the left arm.",
+    "Locate and press the gray plastic switch",
+    "Directly interact with the trapezoidal base switch",
+    "Set the switch at the smooth gray switch",
+    "Switch the gray plastic switch to its active state",
+    "Press the switch with trapezoidal base using the left arm.",
+    "Deploy the left arm to press the switch with trapezoidal base",
+    "Activate the the handheld switch using the left arm",
+    "Command the left arm to engage the gray base with black buttons",
+    "Tap the trapezoidal base switch to engage it",
+    "Engage the gray base with black buttons using the robotic arm",
+    "Press the medium switch with trapezoidal base with the left arm",
+    "Engage with the trapezoidal base switch manually",
+    "Press the electric toggle switch to activate."
+  ],
+  "unseen": [
+    "Activate the switch at the gray switch",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch",
+    "Press the gray switch using the left arm",
+    "Click the gray switch using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch medium size",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Press the gray switch medium size using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch medium size with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the switch with circular black buttons with the left arm.",
+    "Activate the switch at the gray switch",
+    "Press the gray switch medium size using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the switch with circular black buttons",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch medium size with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the switch with circular black buttons.",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Press the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the switch with circular black buttons",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the gray switch",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch",
+    "Click the gray switch with the left arm.",
+    "Activate the switch at the switch with circular black buttons",
+    "Press the gray switch using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch medium size",
+    "Use the left arm to press the gray switch.",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the gray switch",
+    "Move and click the the gray switch",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Press the gray switch using the left arm",
+    "Click the switch with circular black buttons using the left arm",
+    "Click the gray switch with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch medium size.",
+    "Click the gray switch with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch medium size",
+    "Click the gray switch medium size with the left arm.",
+    "Activate the switch at the gray switch medium size",
+    "Press the switch with circular black buttons using the left arm",
+    "Click the gray switch medium size using the left arm",
+    "Click the switch with circular black buttons with the left arm",
+    "Direct the left arm to click the gray switch",
+    "Use the left arm to press the gray switch.",
+    "Click the switch with circular black buttons with the left arm",
+    "Use the left arm to press the switch with circular black buttons",
+    "Move and click the the gray switch",
+    "Click the gray switch with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/turn_switch/piper_randomized_500/instructions/episode99.json b/turn_switch/piper_randomized_500/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..e534edba29a996e431a2bf23fd40afa39366f450
--- /dev/null
+++ b/turn_switch/piper_randomized_500/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the hand-sized switch tan smooth finish with a press.",
+    "Push the rectangular switch with slanted sides via the left arm.",
+    "Activate the light tan rectangular switch smooth finish with the left arm.",
+    "Use the left arm to engage the switch with darker rectangle",
+    "Activate the flat switch via the left arm",
+    "Interact with the angled switch light tan color.",
+    "Deploy the left arm to operate the tan switch",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Trigger the small light tan switch without referencing the left arm",
+    "Locate and press the plastic switch with angled edges",
+    "Press the switch with darker rectangle directly",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Operate the flat switch with the left arm",
+    "Press the smooth tan switch with textured sides using robotic control",
+    "Direct the left arm to operate the tan switch",
+    "Locate and press the smooth tan switch with textured sides",
+    "Click the small light tan switch to activate it",
+    "Toggle the hand-sized switch tan smooth finish with the left arm.",
+    "Command the left arm to engage the switch trapezoid shape brown marking",
+    "Approach and tap the flat switch via the left arm",
+    "Click on the tan switch precisely",
+    "Activate the hand-sized switch tan smooth finish by pressing it",
+    "Use the left arm to interact with the switch trapezoid shape brown marking",
+    "Press the plastic switch with angled edges with the left arm",
+    "Directly interact with the rectangular switch with slanted sides",
+    "Press the switch trapezoid shape brown marking carefully with the left arm",
+    "Engage with the small light tan switch manually",
+    "Initiate the smooth tan switch with textured sides by clicking",
+    "Click the plastic switch with angled edges directly.",
+    "Press the switch with darker rectangle using the left arm.",
+    "Click the rectangular switch with slanted sides using automated tools",
+    "Engage the rectangular switch with slanted sides using the left arm",
+    "Click the angled switch light tan color with robotic precision",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Engage the tan switch using the left arm.",
+    "Activate the the smooth tan switch with textured sides using the left arm",
+    "Move to the small light tan switch and click it.",
+    "Activate the trapezoid-shaped switch smooth surface directly",
+    "Switch the plastic switch with angled edges to its active state",
+    "Tap the flat switch to engage it",
+    "Use the left arm for switching the small light tan switch",
+    "Engage the left arm to press the light tan rectangular switch smooth finish",
+    "Interact with the light tan rectangular switch smooth finish directly",
+    "Deploy the left arm to press the trapezoid-shaped switch smooth surface",
+    "Trigger the rectangular switch with slanted sides with precision",
+    "Activate the switch trapezoid shape brown marking with robotic precision",
+    "Set the left arm to press the hand-sized switch tan smooth finish",
+    "Trigger the small light tan switch using the left arm",
+    "Operate the left arm to engage the small light tan switch",
+    "Press the small light tan switch via automation",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Push the rectangular switch with slanted sides via the left arm.",
+    "Activate the smooth tan switch with textured sides with the left arm.",
+    "Use the left arm to engage the plastic switch with angled edges",
+    "Activate the hand-sized switch tan smooth finish via the left arm",
+    "Interact with the small light tan switch.",
+    "Deploy the left arm to operate the small light tan switch",
+    "Engage the plastic switch with angled edges using the robotic arm",
+    "Trigger the small light tan switch without referencing the left arm",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Press the plastic switch with angled edges directly",
+    "Set the switch at the hand-sized switch tan smooth finish",
+    "Operate the flat switch with the left arm",
+    "Press the light tan rectangular switch smooth finish using robotic control",
+    "Direct the left arm to operate the plastic switch with angled edges",
+    "Locate and press the hand-sized switch tan smooth finish",
+    "Click the trapezoid-shaped switch smooth surface to activate it",
+    "Toggle the small light tan switch with the left arm.",
+    "Command the left arm to engage the switch with darker rectangle",
+    "Approach and tap the angled switch light tan color via the left arm",
+    "Click on the rectangular switch with slanted sides precisely",
+    "Activate the switch with darker rectangle by pressing it",
+    "Use the left arm to interact with the flat switch",
+    "Press the trapezoid-shaped switch smooth surface with the left arm",
+    "Directly interact with the tan switch",
+    "Press the small light tan switch carefully with the left arm",
+    "Engage with the switch trapezoid shape brown marking manually",
+    "Initiate the flat switch by clicking",
+    "Click the plastic switch with angled edges directly.",
+    "Press the plastic switch with angled edges using the left arm.",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Click the smooth tan switch with textured sides with robotic precision",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Engage the switch trapezoid shape brown marking using the left arm.",
+    "Activate the the switch trapezoid shape brown marking using the left arm",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Activate the hand-sized switch tan smooth finish directly",
+    "Switch the smooth tan switch with textured sides to its active state",
+    "Tap the flat switch to engage it",
+    "Use the left arm for switching the smooth tan switch with textured sides",
+    "Engage the left arm to press the small light tan switch",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Deploy the left arm to press the trapezoid-shaped switch smooth surface",
+    "Trigger the angled switch light tan color with precision",
+    "Activate the flat switch with robotic precision",
+    "Set the left arm to press the flat switch",
+    "Trigger the switch trapezoid shape brown marking using the left arm",
+    "Operate the left arm to engage the tan switch",
+    "Press the plastic switch with angled edges via automation"
+  ],
+  "unseen": [
+    "Click the small flat switch tan top with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the small flat switch tan top",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the small flat switch tan top using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the small flat switch tan top",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the small flat switch tan top",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the small flat switch tan top with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the small flat switch tan top with the left arm",
+    "Press the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the small flat switch tan top.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the switch flat tan top brown rectangle",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the lightweight plastic switch angled edges",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle.",
+    "Click the switch flat tan top brown rectangle with the left arm.",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Click the switch flat tan top brown rectangle with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the switch flat tan top brown rectangle",
+    "Move and click the the small flat switch tan top",
+    "Activate the switch at the switch flat tan top brown rectangle",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the lightweight plastic switch angled edges using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm.",
+    "Click the small flat switch tan top with the left arm",
+    "Click the lightweight plastic switch angled edges with the left arm",
+    "Press the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges",
+    "Move and click the the lightweight plastic switch angled edges",
+    "Activate the switch at the lightweight plastic switch angled edges",
+    "Direct the left arm to click the switch flat tan top brown rectangle",
+    "Click the switch flat tan top brown rectangle using the left arm",
+    "Use the left arm to press the lightweight plastic switch angled edges.",
+    "Click the lightweight plastic switch angled edges with the left arm."
+  ]
+}
\ No newline at end of file