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hanging_mug/ur5_randomized_500/instructions/episode13.json

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+{
+  "seen": [
+    "Grab the mug with handle, rotate it, place it in the middle, and hang it onto the smooth dark gray rack.",
+    "Using the left arm, pick the blue mug for hot drinks, turn it, place it down, and hang it on the smooth rack.",
+    "Pick the handle-mounted blue drinking mug from the table using one hand, rotate, and hang it on the dark gray rack.",
+    "Pick up the standard blue tea mug, turn it, place it centrally, then hang the standard blue tea mug onto the smooth rack.",
+    "Use the left arm to pick the standard blue tea mug, turn it, place it, then hang on the metallic rack with smooth finish.",
+    "Use your left arm to pick the standard blue tea mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Grab the blue mug for hot drinks, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Pick the handle-mounted blue drinking mug, turn it, put it in the center, and transfer it to the dark gray rack.",
+    "Take the cylindrical blue mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Pick the mug with handle from the table, rotate it, place it, and then hang it onto the dark gray rack.",
+    "Use the left arm to grab the mug with handle, rotate it, set it down, then hang the mug with handle onto the angled rack with long and short rods.",
+    "Take the bright blue coffee mug, rotate it, set it on the table's center, then hang it onto the rack with two rods sticking out.",
+    "Grab the mug with glossy surface, rotate it, place it on the table, and hook it onto the metallic angular rack with rod pair.",
+    "With the left arm, pick the round mug with curved handle, rotate it, place it, then hang it onto the dark gray rack.",
+    "Use one arm to grab the blue mug, turn it, set it centrally, and use the other to hang it onto the dark gray rack.",
+    "With the left arm, grab the round mug with curved handle, spin it, place it down, then use the right arm to hang it on the dark gray angled rack.",
+    "Take the handle-mounted blue drinking mug from the table, rotate it, place it in the center, then hang it onto the metallic rack with smooth finish.",
+    "Grab the mug with glossy surface from the table, rotate it, place it, and hang it onto the angled rack with long and short rods.",
+    "Use the left arm to grab the cylindrical blue mug, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
+    "Take the mug with glossy surface with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "Using your left arm, lift the blue mug, rotate it, place it down, then your right arm to hang it onto the smooth dark gray rack.",
+    "Take the standard blue tea mug, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.",
+    "Use the left arm to grab the blue mug for hot drinks, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Take the bright blue coffee mug, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.",
+    "With the left arm, grab the cylindrical blue mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.",
+    "Use the right arm to lift the handle-mounted blue drinking mug, rotate it, and attach it to the dark gray angled rack after setting it down.",
+    "Use the left arm to grab the mug with glossy surface, rotate it, place it down, and hang it onto the angular rack with slanted support rod with the right arm.",
+    "Use your left arm to grab the mug with glossy surface, rotate it, set it down, then hang on the dark gray rack.",
+    "Lift the mug with handle, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.",
+    "Take the bright blue coffee mug from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+    "Lift the handle-mounted blue drinking mug, rotate it, put it down in the table's center, then hang it onto the smooth dark gray rack.",
+    "Use the left arm to lift the medium-sized drinking mug, rotate it, put it down, then hook onto the metallic angular rack with rod pair.",
+    "Lift the blue mug with solid texture, turn it, place it back, and move it onto the smooth rack with the right arm.",
+    "Lift the cylindrical blue mug from the table, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Lift the handle-mounted blue drinking mug, give it a turn, and hang it onto the angular rack with slanted support rod.",
+    "Lift the handle-mounted blue drinking mug, twist it, set it back, and secure it onto the rack with two rods sticking out.",
+    "Pick the mug with loop handle using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.",
+    "Lift the round mug with curved handle from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.",
+    "Pick the handle-mounted blue drinking mug up, twist it, place it back, then hang it onto the smooth rack.",
+    "Grab the round mug with curved handle, turn it around, put it back, then attach it to the dark gray rack.",
+    "Take the blue mug, rotate it, place it in the center, then hang it on the dark gray angled rack.",
+    "Use your left arm to grab the handle-mounted blue drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Grab the cylindrical blue mug, rotate it, place it in the middle, and hang it onto the metallic angular rack with rod pair.",
+    "Using the left arm, pick the mug with loop handle, turn it, place it down, and hang it on the metal rack.",
+    "Pick the blue mug from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Pick up the blue mug for hot drinks, turn it, place it centrally, then hang the blue mug for hot drinks onto the smooth dark gray rack.",
+    "Use the left arm to pick the medium-sized drinking mug, turn it, place it, then hang on the smooth dark gray rack.",
+    "Use your left arm to pick the mug with loop handle, rotate it, set it down, and hang it onto the angular rack with slanted support rod.",
+    "Grab the mug with handle, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Pick the medium-sized drinking mug, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
+    "Take the blue mug with solid texture from the table, turn it, set it down, and attach it to the rack with two rods sticking out.",
+    "Pick the round mug with curved handle from the table, rotate it, place it, and then hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the cylindrical blue mug, rotate it, set it down, then hang the cylindrical blue mug onto the dark gray angled rack.",
+    "Take the cylindrical blue mug, rotate it, set it on the table's center, then hang it onto the smooth dark gray rack.",
+    "Grab the blue mug with solid texture, rotate it, place it on the table, and hook it onto the smooth rack.",
+    "With the left arm, pick the blue mug for hot drinks, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Use one arm to grab the bright blue coffee mug, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
+    "With the left arm, grab the medium-sized drinking mug, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.",
+    "Take the blue mug from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "Grab the medium-sized drinking mug from the table, rotate it, place it, and hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the blue mug with solid texture, flip it, set it down, and then attach it to the metal rack.",
+    "Take the handle-mounted blue drinking mug with one arm, rotate it, and hang it onto the medium rack with protruding rods.",
+    "Using your left arm, lift the blue mug, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.",
+    "Take the blue mug for hot drinks, rotate it, set it in the middle, then hang it on the smooth dark gray rack.",
+    "Use the left arm to grab the handle-mounted blue drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Take the blue mug with solid texture, rotate it, place it back on the table, and hang it on the dark gray angled rack afterward.",
+    "With the left arm, grab the round mug with curved handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Use the right arm to lift the mug with handle, rotate it, and attach it to the smooth dark gray rack after setting it down.",
+    "Use the left arm to grab the medium-sized drinking mug, rotate it, place it down, and hang it onto the dark gray angled rack with the right arm.",
+    "Use your left arm to grab the handle-mounted blue drinking mug, rotate it, set it down, then hang on the smooth rack.",
+    "Lift the mug with loop handle, turn it around, set it in the middle, and place it on the medium rack with protruding rods.",
+    "Take the blue mug from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Lift the bright blue coffee mug, rotate it, put it down in the table's center, then hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to lift the blue mug with solid texture, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Lift the bright blue coffee mug, turn it, place it back, and move it onto the metal rack with the right arm.",
+    "Lift the blue mug with solid texture from the table, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Lift the blue mug with solid texture, give it a turn, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the standard blue tea mug, twist it, set it back, and secure it onto the smooth dark gray rack.",
+    "Pick the standard blue tea mug using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm.",
+    "Lift the mug with handle from the table, turn it, put it down in the middle, then hang it onto the metallic angular rack with rod pair.",
+    "Pick the mug with handle up, twist it, place it back, then hang it onto the dark gray angled rack.",
+    "Grab the blue mug with solid texture, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Take the bright blue coffee mug, rotate it, place it in the center, then hang it on the dark gray angled rack.",
+    "Use your left arm to grab the handle-mounted blue drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Grab the mug with handle, rotate it, place it in the middle, and hang it onto the dark gray rack.",
+    "Using the left arm, pick the medium-sized drinking mug, turn it, place it down, and hang it on the angular rack with slanted support rod.",
+    "Pick the bright blue coffee mug from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Pick up the round mug with curved handle, turn it, place it centrally, then hang the round mug with curved handle onto the metallic rack with smooth finish.",
+    "Use the left arm to pick the bright blue coffee mug, turn it, place it, then hang on the dark gray angled rack.",
+    "Use your left arm to pick the standard blue tea mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Grab the bright blue coffee mug, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Pick the handle-mounted blue drinking mug, turn it, put it in the center, and transfer it to the metal rack.",
+    "Take the cylindrical blue mug from the table, turn it, set it down, and attach it to the metallic rack with smooth finish.",
+    "Pick the mug with glossy surface from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Use the left arm to grab the blue mug for hot drinks, rotate it, set it down, then hang the blue mug for hot drinks onto the rack with angular body.",
+    "Take the bright blue coffee mug, rotate it, set it on the table's center, then hang it onto the rack with two rods sticking out.",
+    "Grab the blue mug for hot drinks, rotate it, place it on the table, and hook it onto the medium rack with protruding rods.",
+    "With the left arm, pick the medium-sized drinking mug, rotate it, place it, then hang it onto the metal rack.",
+    "Use one arm to grab the bright blue coffee mug, turn it, set it centrally, and use the other to hang it onto the angular rack with slanted support rod.",
+    "With the left arm, grab the mug with handle, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod."
+  ],
+  "unseen": [
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the medium-sized rack.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the medium-sized rack.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the dark gray rack with flat back.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the lightweight mug for beverages from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the dark gray rack with flat back.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the lightweight mug for beverages from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the medium-sized rack.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the medium-sized rack.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the medium-sized rack.",
+    "Grab the smooth shiny blue mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode231.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical black mug from the table, rotate it, place it, and hang it onto the medium rack with protruding rods.",
+    "With the left arm, pick the black mug with handle, rotate it, place it, then hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to pick the solid black ceramic mug, turn it, place it, then hang on the angular rack with slanted support rod.",
+    "Pick the cylindrical black mug, turn it, put it in the center, and transfer it to the metal rack.",
+    "Pick up the mug with rounded handle, turn it, place it centrally, then hang the mug with rounded handle onto the smooth dark gray rack.",
+    "Take the cylindrical black mug, rotate it, place it in the center, then hang it on the smooth dark gray rack.",
+    "Lift the black mug with handle from the table, turn it, put it down in the middle, then hang it onto the smooth dark gray rack.",
+    "Lift the drinking mug, turn it around, set it in the middle, and place it on the rack with two rods sticking out.",
+    "Take the black mug, rotate it, place it back on the table, and hang it on the smooth dark gray rack afterward.",
+    "Use your left arm to pick the black mug with handle, rotate it, set it down, and hang it onto the smooth dark gray rack.",
+    "Use one arm to grab the black mug with handle, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "Lift the cylindrical black mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Lift the drinking mug, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Take the mug with rounded handle from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to lift the smooth black ceramic mug, rotate it, put it down, then hook onto the metallic angular rack with rod pair.",
+    "Lift the drinking mug, twist it, set it back, and secure it onto the dark gray angled rack.",
+    "Pick the mug with rounded handle up, twist it, place it back, then hang it onto the metal rack.",
+    "Pick the drinking mug from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Use the left arm to grab the mug with thick sturdy handle, rotate it, set it down, then hang the mug with thick sturdy handle onto the metal rack.",
+    "Take the mug with thick sturdy handle, rotate it, set it on the table's center, then hang it onto the dark gray angled rack.",
+    "Using your left arm, lift the smooth black ceramic mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Use the left arm to grab the black mug for liquids, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Lift the mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "Take the black coffee mug from the table, turn it, set it down, and attach it to the dark gray angled rack.",
+    "Use the right arm to lift the cylindrical black mug, rotate it, and attach it to the smooth dark gray rack after setting it down.",
+    "Pick the hand-sized black mug from the table, rotate it, place it, and then hang it onto the rack with angular body.",
+    "With the left arm, grab the mug with thick sturdy handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.",
+    "Grab the black mug, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Pick the black mug for liquids using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Take the mug with thick sturdy handle from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+    "Lift the black mug with handle, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.",
+    "Take the black mug for liquids with one arm, rotate it, and hang it onto the dark gray rack.",
+    "Use the left arm to grab the cylindrical black mug, rotate it, place it down, and hang it onto the smooth rack with the right arm.",
+    "Use your left arm to grab the black mug for liquids, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Using the left arm, pick the drinking mug, turn it, place it down, and hang it on the rack with angular body.",
+    "Grab the mug with rounded handle, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Take the black mug with smooth surface, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.",
+    "With the left arm, grab the mug with rounded handle, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Use your left arm to grab the black mug with handle, rotate it, set it down, then hang on the rack with angular body.",
+    "Grab the black coffee mug, rotate it, place it in the middle, and hang it onto the rack with angular body.",
+    "Grab the black mug with handle, turn it around, put it back, then attach it to the smooth rack.",
+    "Grab the black mug with handle from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "With the left arm, pick the smooth black ceramic mug, rotate it, place it, then hang it onto the smooth rack.",
+    "Use the left arm to pick the cylindrical black mug, turn it, place it, then hang on the metal rack.",
+    "Pick the black coffee mug, turn it, put it in the center, and transfer it to the dark gray angled rack.",
+    "Pick up the black mug with smooth surface, turn it, place it centrally, then hang the black mug with smooth surface onto the rack with two rods sticking out.",
+    "Take the cylindrical black mug, rotate it, place it in the center, then hang it on the dark gray rack.",
+    "Lift the black coffee mug from the table, turn it, put it down in the middle, then hang it onto the metallic angular rack with rod pair.",
+    "Lift the solid black ceramic mug, turn it around, set it in the middle, and place it on the metallic angular rack with rod pair.",
+    "Take the cylindrical black mug, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.",
+    "Use your left arm to pick the mug with rounded handle, rotate it, set it down, and hang it onto the dark gray angled rack.",
+    "Use one arm to grab the mug with rounded handle, turn it, set it centrally, and use the other to hang it onto the metallic angular rack with rod pair.",
+    "Lift the solid black ceramic mug, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Lift the black mug, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Take the hand-sized black mug from the table, rotate it, place it in the center, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to lift the black mug, rotate it, put it down, then hook onto the rack with two rods sticking out.",
+    "Lift the black mug, twist it, set it back, and secure it onto the metallic rack with smooth finish.",
+    "Pick the cylindrical black mug up, twist it, place it back, then hang it onto the dark gray rack.",
+    "Pick the black mug with smooth surface from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Use the left arm to grab the smooth black ceramic mug, rotate it, set it down, then hang the smooth black ceramic mug onto the smooth rack.",
+    "Take the smooth black ceramic mug, rotate it, set it on the table's center, then hang it onto the metal rack.",
+    "Using your left arm, lift the smooth black ceramic mug, rotate it, place it down, then your right arm to hang it onto the metal rack.",
+    "Use the left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the solid black ceramic mug, flip it, set it down, and then attach it to the smooth rack.",
+    "Lift the black mug from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "Take the cylindrical black mug from the table, turn it, set it down, and attach it to the dark gray rack.",
+    "Use the right arm to lift the black mug for liquids, rotate it, and attach it to the medium rack with protruding rods after setting it down.",
+    "Pick the black mug from the table, rotate it, place it, and then hang it onto the metal rack.",
+    "With the left arm, grab the black mug with smooth surface from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Grab the mug with rounded handle, rotate it, place it on the table, and hook it onto the metallic angular rack with rod pair.",
+    "Pick the smooth black ceramic mug using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Take the black coffee mug from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Lift the mug with rounded handle, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Take the cylindrical black mug with one arm, rotate it, and hang it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the solid black ceramic mug, rotate it, place it down, and hang it onto the rack with angular body with the right arm.",
+    "Use your left arm to grab the black mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Using the left arm, pick the black mug with smooth surface, turn it, place it down, and hang it on the dark gray rack.",
+    "Grab the smooth black ceramic mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Take the hand-sized black mug, rotate it, set it in the middle, then hang it on the metal rack.",
+    "With the left arm, grab the mug with thick sturdy handle, spin it, place it down, then use the right arm to hang it on the dark gray angled rack.",
+    "Use your left arm to grab the black mug for liquids, rotate it, set it down, then hang on the angled rack with long and short rods.",
+    "Grab the mug with rounded handle, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Grab the solid black ceramic mug, turn it around, put it back, then attach it to the rack with angular body.",
+    "Grab the mug with rounded handle from the table, rotate it, place it, and hang it onto the metallic rack with smooth finish.",
+    "With the left arm, pick the smooth black ceramic mug, rotate it, place it, then hang it onto the dark gray rack.",
+    "Use the left arm to pick the solid black ceramic mug, turn it, place it, then hang on the smooth dark gray rack.",
+    "Pick the black coffee mug, turn it, put it in the center, and transfer it to the metal rack.",
+    "Pick up the black mug for liquids, turn it, place it centrally, then hang the black mug for liquids onto the metallic rack with smooth finish.",
+    "Take the cylindrical black mug, rotate it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Lift the solid black ceramic mug from the table, turn it, put it down in the middle, then hang it onto the medium rack with protruding rods.",
+    "Lift the black mug with handle, turn it around, set it in the middle, and place it on the medium rack with protruding rods.",
+    "Take the black mug for liquids, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "Use your left arm to pick the black mug with smooth surface, rotate it, set it down, and hang it onto the angled rack with long and short rods.",
+    "Use one arm to grab the mug with thick sturdy handle, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Lift the hand-sized black mug, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Lift the black mug with smooth surface, give it a turn, and hang it onto the smooth rack.",
+    "Take the mug with rounded handle from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to lift the black coffee mug, rotate it, put it down, then hook onto the smooth rack.",
+    "Lift the black mug for liquids, twist it, set it back, and secure it onto the angled rack with long and short rods."
+  ],
+  "unseen": [
+    "Lift the matte black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the medium-sized rack.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the matte black mug from the table, rotate it, and set it in the center. Then hang the matte black mug on the rack with straight and slanted rods.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the rack with straight and slanted rods.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the medium black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the rack with straight and slanted rods.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the rack with straight and slanted rods.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the medium-sized rack.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode247.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the standard blue tea mug, turn it, place it, then hang on the rack with two rods sticking out.",
+    "Lift the blue mug for hot drinks, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Take the cylindrical blue mug from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to grab the cylindrical blue mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Grab the blue mug with solid texture from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.",
+    "Grab the blue mug for hot drinks, turn it around, put it back, then attach it to the metallic rack with smooth finish.",
+    "Take the mug with glossy surface, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "Pick the mug with loop handle from the table using one hand, rotate, and hang it on the dark gray angled rack.",
+    "Use your left arm to grab the standard blue tea mug, rotate it, set it down, then hang on the metal rack.",
+    "Take the mug with loop handle with one arm, rotate it, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the handle-mounted blue drinking mug, twist it, set it back, and secure it onto the dark gray rack.",
+    "Pick the mug with glossy surface from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.",
+    "With the left arm, pick the mug with handle, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Use one arm to grab the blue mug with solid texture, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
+    "Use your left arm to pick the handle-mounted blue drinking mug, rotate it, set it down, and hang it onto the angled rack with long and short rods.",
+    "Grab the round mug with curved handle, rotate it, place it on the table, and hook it onto the smooth dark gray rack.",
+    "Take the blue mug for hot drinks, rotate it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Use the left arm to grab the cylindrical blue mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
+    "Lift the round mug with curved handle from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.",
+    "Grab the blue mug for hot drinks, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Lift the cylindrical blue mug, give it a turn, and hang it onto the dark gray rack.",
+    "With the left arm, grab the blue mug with solid texture from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Pick the standard blue tea mug, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
+    "Using your left arm, lift the mug with handle, rotate it, place it down, then your right arm to hang it onto the rack with angular body.",
+    "Use the left arm to lift the bright blue coffee mug, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Take the cylindrical blue mug from the table, turn it, set it down, and attach it to the smooth dark gray rack.",
+    "Pick up the blue mug with solid texture, turn it, place it centrally, then hang the blue mug with solid texture onto the metallic angular rack with rod pair.",
+    "Take the blue mug with solid texture, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.",
+    "Lift the mug with loop handle from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Pick the mug with handle using your left arm, turn it, set it on the table, and hang it on the dark gray angled rack with the right arm.",
+    "Grab the standard blue tea mug, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "Lift the cylindrical blue mug, turn it around, set it in the middle, and place it on the angled rack with long and short rods.",
+    "With the left arm, grab the standard blue tea mug, spin it, place it down, then use the right arm to hang it on the metallic angular rack with rod pair.",
+    "Take the mug with loop handle from the table, spin it, place it in the center, then hang it on the rack with two rods sticking out.",
+    "Using the left arm, pick the mug with loop handle, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "Use the left arm to grab the medium-sized drinking mug, rotate it, set it down, then hang the medium-sized drinking mug onto the rack with angular body.",
+    "Lift the handle-mounted blue drinking mug, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Take the mug with handle, rotate it, set it on the table's center, then hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the mug with glossy surface, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Pick the round mug with curved handle up, twist it, place it back, then hang it onto the angular rack with slanted support rod.",
+    "Use the right arm to lift the mug with glossy surface, rotate it, and attach it to the smooth dark gray rack after setting it down.",
+    "Use the left arm to grab the blue mug for hot drinks, flip it, set it down, and then attach it to the metal rack.",
+    "Use the left arm to pick the round mug with curved handle, turn it, place it, then hang on the angled rack with long and short rods.",
+    "Lift the medium-sized drinking mug, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Take the blue mug with solid texture from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to grab the blue mug, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Grab the blue mug for hot drinks from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.",
+    "Grab the blue mug, turn it around, put it back, then attach it to the dark gray rack.",
+    "Take the blue mug, rotate it, set it in the middle, then hang it on the medium rack with protruding rods.",
+    "Pick the standard blue tea mug from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.",
+    "Use your left arm to grab the cylindrical blue mug, rotate it, set it down, then hang on the dark gray angled rack.",
+    "Take the mug with loop handle with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Lift the blue mug with solid texture, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+    "Pick the handle-mounted blue drinking mug from the table, rotate it, place it, and then hang it onto the metal rack.",
+    "With the left arm, pick the mug with loop handle, rotate it, place it, then hang it onto the metal rack.",
+    "Use one arm to grab the blue mug for hot drinks, turn it, set it centrally, and use the other to hang it onto the smooth rack.",
+    "Use your left arm to pick the medium-sized drinking mug, rotate it, set it down, and hang it onto the metal rack.",
+    "Grab the mug with handle, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Take the blue mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Use the left arm to grab the blue mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
+    "Lift the handle-mounted blue drinking mug from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.",
+    "Grab the blue mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Lift the mug with loop handle, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "With the left arm, grab the medium-sized drinking mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.",
+    "Pick the round mug with curved handle, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
+    "Using your left arm, lift the blue mug for hot drinks, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to lift the mug with loop handle, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Take the mug with glossy surface from the table, turn it, set it down, and attach it to the metal rack.",
+    "Pick up the mug with loop handle, turn it, place it centrally, then hang the mug with loop handle onto the angled rack with long and short rods.",
+    "Take the round mug with curved handle, rotate it, place it back on the table, and hang it on the angular rack with slanted support rod afterward.",
+    "Lift the mug with loop handle from the table, rotate it, place it in the middle, and hang it on the smooth rack.",
+    "Pick the bright blue coffee mug using your left arm, turn it, set it on the table, and hang it on the metallic angular rack with rod pair with the right arm.",
+    "Grab the cylindrical blue mug, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.",
+    "Lift the round mug with curved handle, turn it around, set it in the middle, and place it on the dark gray rack.",
+    "With the left arm, grab the blue mug for hot drinks, spin it, place it down, then use the right arm to hang it on the dark gray rack.",
+    "Take the blue mug with solid texture from the table, spin it, place it in the center, then hang it on the smooth dark gray rack.",
+    "Using the left arm, pick the blue mug for hot drinks, turn it, place it down, and hang it on the dark gray angled rack.",
+    "Use the left arm to grab the standard blue tea mug, rotate it, set it down, then hang the standard blue tea mug onto the metallic angular rack with rod pair.",
+    "Lift the medium-sized drinking mug, rotate it, put it down in the table's center, then hang it onto the smooth rack.",
+    "Take the blue mug for hot drinks, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the round mug with curved handle, rotate it, place it down, and hang it onto the dark gray rack with the right arm.",
+    "Pick the mug with glossy surface up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
+    "Use the right arm to lift the round mug with curved handle, rotate it, and attach it to the metallic angular rack with rod pair after setting it down.",
+    "Use the left arm to grab the cylindrical blue mug, flip it, set it down, and then attach it to the metal rack.",
+    "Use the left arm to pick the blue mug for hot drinks, turn it, place it, then hang on the metallic rack with smooth finish.",
+    "Lift the mug with glossy surface, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.",
+    "Take the round mug with curved handle from the table, rotate it, place it in the center, then hang it onto the dark gray rack.",
+    "Use your left arm to grab the mug with loop handle, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Grab the handle-mounted blue drinking mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.",
+    "Grab the blue mug with solid texture, turn it around, put it back, then attach it to the rack with angular body.",
+    "Take the round mug with curved handle, rotate it, set it in the middle, then hang it on the smooth rack.",
+    "Pick the handle-mounted blue drinking mug from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Use your left arm to grab the medium-sized drinking mug, rotate it, set it down, then hang on the dark gray rack.",
+    "Take the standard blue tea mug with one arm, rotate it, and hang it onto the angular rack with slanted support rod.",
+    "Lift the mug with glossy surface, twist it, set it back, and secure it onto the metallic rack with smooth finish.",
+    "Pick the blue mug for hot drinks from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "With the left arm, pick the cylindrical blue mug, rotate it, place it, then hang it onto the angled rack with long and short rods.",
+    "Use one arm to grab the mug with glossy surface, turn it, set it centrally, and use the other to hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to pick the cylindrical blue mug, rotate it, set it down, and hang it onto the metal rack.",
+    "Grab the medium-sized drinking mug, rotate it, place it on the table, and hook it onto the angled rack with long and short rods."
+  ],
+  "unseen": [
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the medium-sized rack.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the medium-sized rack.",
+    "Pick the lightweight mug for beverages from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the lightweight mug for beverages from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the dark gray rack with flat back.",
+    "Pick the lightweight mug for beverages from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the rack with straight and slanted rods.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the lightweight mug for beverages, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the smooth shiny blue mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the medium-sized rack.",
+    "Pick the lightweight mug for beverages from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the smooth shiny blue mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the lightweight mug for beverages from the table, rotate it, and set it in the center. Then hang the lightweight mug for beverages on the rack with straight and slanted rods.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the lightweight mug for beverages on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic from the table, rotate it, and set it in the center. Then hang the drinking mug made of ceramic on the dark gray rack with flat back.",
+    "Pick the drinking mug made of ceramic from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the drinking mug made of ceramic from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the rack with straight and slanted rods.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the drinking mug made of ceramic, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the drinking mug made of ceramic, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the lightweight mug for beverages with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the rack with straight and slanted rods.",
+    "Pick the lightweight mug for beverages from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the lightweight mug for beverages, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the smooth shiny blue mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the smooth shiny blue mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the drinking mug made of ceramic on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the drinking mug made of ceramic with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug from the table, rotate it, and set it in the center. Then hang the smooth shiny blue mug on the medium-sized rack.",
+    "Pick the smooth shiny blue mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the drinking mug made of ceramic, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the lightweight mug for beverages, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth shiny blue mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the lightweight mug for beverages from the table, spin it, set it down, and hang it on the rack with straight and slanted rods."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode266.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the mug with rounded base with one arm, rotate it, and hang it onto the medium rack with protruding rods.",
+    "Pick the mug with glossy beige finish from the table using one hand, rotate, and hang it on the smooth dark gray rack.",
+    "Pick the smooth ceramic mug up, twist it, place it back, then hang it onto the smooth rack.",
+    "Lift the medium beige mug, rotate it, put it down in the table's center, then hang it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the ceramic mug with printed logo, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Take the glossy beige ceramic drinking mug from the table, spin it, place it in the center, then hang it on the metal rack.",
+    "Use your left arm to grab the cylindrical coffee mug with handle, rotate it, set it down, then hang on the angular rack with slanted support rod.",
+    "Lift the cylindrical beige ceramic mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
+    "Take the mug with rounded base, rotate it, place it back on the table, and hang it on the smooth rack afterward.",
+    "Lift the glossy beige ceramic drinking mug, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.",
+    "Lift the beige mug used for drinks, give it a turn, and hang it onto the rack with angular body.",
+    "Use the left arm to grab the ceramic mug with printed logo, rotate it, set it down, then hang the ceramic mug with printed logo onto the angled rack with long and short rods.",
+    "Take the glossy beige ceramic drinking mug, rotate it, set it in the middle, then hang it on the smooth dark gray rack.",
+    "With the left arm, pick the mug with side handle, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Grab the beige mug used for drinks, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.",
+    "Pick the mug with side handle from the table, rotate it, place it, and then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to grab the mug with round handle, flip it, set it down, and then attach it to the dark gray rack.",
+    "Take the cylindrical coffee mug with handle from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "Grab the cylindrical beige ceramic mug, turn it around, put it back, then attach it to the angled rack with long and short rods.",
+    "Lift the cylindrical beige ceramic mug, twist it, set it back, and secure it onto the dark gray rack.",
+    "Grab the mug with logo design on side, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod.",
+    "Take the smooth ceramic mug from the table, turn it, set it down, and attach it to the dark gray angled rack.",
+    "Grab the glossy beige ceramic drinking mug from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Use your left arm to pick the mug with glossy beige finish, rotate it, set it down, and hang it onto the rack with two rods sticking out.",
+    "Grab the mug with logo design on side, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Use the left arm to pick the mug with side handle, turn it, place it, then hang on the smooth rack.",
+    "With the left arm, grab the smooth ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Using your left arm, lift the mug with round handle, rotate it, place it down, then your right arm to hang it onto the dark gray rack.",
+    "Use the left arm to grab the mug with round handle, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
+    "Pick the beige mug used for drinks, turn it, put it in the center, and transfer it to the dark gray rack.",
+    "Pick the beige mug used for drinks using your left arm, turn it, set it on the table, and hang it on the metallic angular rack with rod pair with the right arm.",
+    "Lift the medium beige mug from the table, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Pick up the mug with logo design on side, turn it, place it centrally, then hang the mug with logo design on side onto the angular rack with slanted support rod.",
+    "Using the left arm, pick the beige mug used for drinks, turn it, place it down, and hang it on the angular rack with slanted support rod.",
+    "Use one arm to grab the medium beige mug, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Use the left arm to grab the cylindrical beige ceramic mug, rotate it, place it down, and hang it onto the metallic rack with smooth finish with the right arm.",
+    "Use the right arm to lift the cylindrical beige ceramic mug, rotate it, and attach it to the metal rack after setting it down.",
+    "Lift the mug with round handle, turn it around, set it in the middle, and place it on the rack with two rods sticking out.",
+    "With the left arm, grab the cylindrical beige ceramic mug, spin it, place it down, then use the right arm to hang it on the dark gray angled rack.",
+    "Use the left arm to lift the smooth ceramic mug, rotate it, put it down, then hook onto the smooth dark gray rack.",
+    "Take the medium beige mug, rotate it, place it in the center, then hang it on the rack with angular body.",
+    "Take the mug with logo design on side, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Take the ceramic mug with printed logo with one arm, rotate it, and hang it onto the angular rack with slanted support rod.",
+    "Pick the mug with round handle from the table using one hand, rotate, and hang it on the angled rack with long and short rods.",
+    "Pick the glossy beige ceramic drinking mug up, twist it, place it back, then hang it onto the angular rack with slanted support rod.",
+    "Lift the cylindrical coffee mug with handle, rotate it, put it down in the table's center, then hang it onto the smooth dark gray rack.",
+    "Use your left arm to grab the mug with side handle, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Take the mug with rounded base from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Use your left arm to grab the mug with round handle, rotate it, set it down, then hang on the smooth rack.",
+    "Lift the mug with logo design on side from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.",
+    "Take the smooth ceramic mug, rotate it, place it back on the table, and hang it on the metallic rack with smooth finish afterward.",
+    "Lift the mug with side handle, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Lift the cylindrical coffee mug with handle, give it a turn, and hang it onto the dark gray rack.",
+    "Use the left arm to grab the medium beige mug, rotate it, set it down, then hang the medium beige mug onto the dark gray angled rack.",
+    "Take the cylindrical coffee mug with handle, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+    "With the left arm, pick the smooth ceramic mug, rotate it, place it, then hang it onto the metallic rack with smooth finish.",
+    "Grab the mug with glossy beige finish, rotate it, place it on the table, and hook it onto the metallic angular rack with rod pair.",
+    "Pick the medium beige mug from the table, rotate it, place it, and then hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the smooth ceramic mug, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Take the smooth ceramic mug from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.",
+    "Grab the glossy beige ceramic drinking mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Lift the mug with round handle, twist it, set it back, and secure it onto the smooth rack.",
+    "Grab the glossy beige ceramic drinking mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Take the cylindrical beige ceramic mug from the table, turn it, set it down, and attach it to the smooth dark gray rack.",
+    "Grab the ceramic mug with printed logo from the table, rotate it, place it, and hang it onto the medium rack with protruding rods.",
+    "Use your left arm to pick the mug with round handle, rotate it, set it down, and hang it onto the dark gray rack.",
+    "Grab the ceramic mug with printed logo, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Use the left arm to pick the mug with rounded base, turn it, place it, then hang on the angled rack with long and short rods.",
+    "With the left arm, grab the ceramic mug with printed logo from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.",
+    "Using your left arm, lift the mug with logo design on side, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the mug with glossy beige finish, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Pick the cylindrical beige ceramic mug, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
+    "Pick the mug with logo design on side using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.",
+    "Lift the glossy beige ceramic drinking mug from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Pick up the mug with logo design on side, turn it, place it centrally, then hang the mug with logo design on side onto the metal rack.",
+    "Using the left arm, pick the glossy beige ceramic drinking mug, turn it, place it down, and hang it on the dark gray angled rack.",
+    "Use one arm to grab the cylindrical beige ceramic mug, turn it, set it centrally, and use the other to hang it onto the smooth rack.",
+    "Use the left arm to grab the cylindrical beige ceramic mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.",
+    "Use the right arm to lift the mug with logo design on side, rotate it, and attach it to the rack with two rods sticking out after setting it down.",
+    "Lift the mug with glossy beige finish, turn it around, set it in the middle, and place it on the metallic angular rack with rod pair.",
+    "With the left arm, grab the ceramic mug with printed logo, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.",
+    "Use the left arm to lift the mug with rounded base, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Take the cylindrical coffee mug with handle, rotate it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Take the glossy beige ceramic drinking mug, rotate it, set it on the table's center, then hang it onto the rack with angular body.",
+    "Take the mug with glossy beige finish with one arm, rotate it, and hang it onto the angular rack with slanted support rod.",
+    "Pick the cylindrical beige ceramic mug from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.",
+    "Pick the smooth ceramic mug up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Lift the smooth ceramic mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.",
+    "Use your left arm to grab the smooth ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Take the medium beige mug from the table, spin it, place it in the center, then hang it on the dark gray rack.",
+    "Use your left arm to grab the glossy beige ceramic drinking mug, rotate it, set it down, then hang on the metallic angular rack with rod pair.",
+    "Lift the mug with round handle from the table, turn it, put it down in the middle, then hang it onto the medium rack with protruding rods.",
+    "Take the ceramic mug with printed logo, rotate it, place it back on the table, and hang it on the rack with angular body afterward.",
+    "Lift the glossy beige ceramic drinking mug, turn it, place it back, and move it onto the smooth rack with the right arm.",
+    "Lift the beige mug used for drinks, give it a turn, and hang it onto the smooth rack.",
+    "Use the left arm to grab the medium beige mug, rotate it, set it down, then hang the medium beige mug onto the metallic rack with smooth finish.",
+    "Take the smooth ceramic mug, rotate it, set it in the middle, then hang it on the metal rack.",
+    "With the left arm, pick the cylindrical coffee mug with handle, rotate it, place it, then hang it onto the angular rack with slanted support rod.",
+    "Grab the glossy beige ceramic drinking mug, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Pick the cylindrical beige ceramic mug from the table, rotate it, place it, and then hang it onto the metallic angular rack with rod pair."
+  ],
+  "unseen": [
+    "Grab the beige coffee mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the beige coffee mug from the table, rotate it, and set it in the center. Then hang the beige coffee mug on the medium-sized rack.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the beige mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the beige coffee mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the dark gray rack with flat back.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the beige mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the beige coffee mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige coffee mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the beige coffee mug from the table, rotate it, and set it in the center. Then hang the beige coffee mug on the dark gray rack with flat back.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the beige coffee mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the beige coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the medium-sized rack.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the beige coffee mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the rack with straight and slanted rods.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the beige coffee mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the dark gray rack with flat back.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick up the beige coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the dark gray rack with flat back.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the beige coffee mug from the table, rotate it, and set it in the center. Then hang the beige coffee mug on the dark gray rack with flat back.",
+    "Lift the beige coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the beige coffee mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the beige coffee mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige coffee mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the beige coffee mug from the table, rotate it, and set it in the center. Then hang the beige coffee mug on the dark gray rack with flat back.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the beige coffee mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the beige coffee mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige coffee mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the beige coffee mug from the table, rotate it, and set it in the center. Then hang the beige coffee mug on the dark gray rack with flat back.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the beige coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige coffee mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the beige coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the beige coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode323.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, pick the medium white mug with handle, turn it, place it down, and hang it on the smooth rack.",
+    "Lift the plain glossy mug, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.",
+    "Use one arm to grab the medium white mug with handle, turn it, set it centrally, and use the other to hang it onto the smooth rack.",
+    "Lift the white mug with rounded handle from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.",
+    "Use the right arm to lift the white mug with rounded handle, rotate it, and attach it to the medium rack with protruding rods after setting it down.",
+    "Pick the hand-sized ceramic mug up, twist it, place it back, then hang it onto the dark gray rack.",
+    "Grab the smooth white mug with curved handle, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Take the ceramic mug, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+    "With the left arm, grab the smooth white mug with curved handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the white mug, rotate it, place it down, and hang it onto the metallic rack with smooth finish with the right arm.",
+    "Use the left arm to pick the ceramic mug, turn it, place it, then hang on the angled rack with long and short rods.",
+    "Take the ceramic mug from the table, rotate it, place it in the center, then hang it onto the metallic angular rack with rod pair.",
+    "Take the white mug with rounded handle, rotate it, set it on the table's center, then hang it onto the angled rack with long and short rods.",
+    "Pick the smooth and plain drinking mug using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Use the left arm to grab the ceramic mug, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Use the left arm to grab the hand-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Lift the white mug, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.",
+    "Lift the white mug with rounded handle, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+    "Take the plain glossy mug from the table, turn it, set it down, and attach it to the angled rack with long and short rods.",
+    "Pick the basic mug in solid white from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Lift the white mug, turn it around, set it in the middle, and place it on the angled rack with long and short rods.",
+    "Lift the white mug with rounded handle, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Lift the basic mug in solid white from the table, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.",
+    "Pick the hand-sized ceramic mug, turn it, put it in the center, and transfer it to the metallic rack with smooth finish.",
+    "Use the left arm to lift the smooth white mug with curved handle, rotate it, put it down, then hook onto the metallic angular rack with rod pair.",
+    "Pick the cylindrical mug made of ceramic from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.",
+    "Grab the smooth and plain drinking mug, turn it around, put it back, then attach it to the metallic angular rack with rod pair.",
+    "Use your left arm to pick the basic mug in solid white, rotate it, set it down, and hang it onto the dark gray rack.",
+    "Use the left arm to grab the basic mug in solid white, rotate it, set it down, then hang the basic mug in solid white onto the rack with angular body.",
+    "Grab the cylindrical mug made of ceramic from the table, rotate it, place it, and hang it onto the metal rack.",
+    "Grab the cylindrical mug made of ceramic, rotate it, place it on the table, and hook it onto the metal rack.",
+    "Grab the smooth white mug with curved handle, rotate it, place it in the middle, and hang it onto the smooth dark gray rack.",
+    "Take the medium-sized white mug from the table, spin it, place it in the center, then hang it on the smooth dark gray rack.",
+    "With the left arm, grab the plain glossy mug, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.",
+    "Use your left arm to grab the smooth and plain drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Take the plain glossy mug with one arm, rotate it, and hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to grab the white mug, rotate it, set it down, then hang on the metallic angular rack with rod pair.",
+    "Using your left arm, lift the white mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the medium rack with protruding rods.",
+    "With the left arm, pick the cylindrical mug made of ceramic, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Pick up the cylindrical mug made of ceramic, turn it, place it centrally, then hang the cylindrical mug made of ceramic onto the dark gray rack.",
+    "Take the cylindrical mug made of ceramic, rotate it, place it in the center, then hang it on the metal rack.",
+    "Take the white mug, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.",
+    "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the dark gray rack.",
+    "Lift the ceramic mug, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
+    "Use one arm to grab the smooth white mug with curved handle, turn it, set it centrally, and use the other to hang it onto the metal rack.",
+    "Lift the glossy mug for beverages from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.",
+    "Use the right arm to lift the hand-sized ceramic mug, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Pick the glossy mug for beverages up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Grab the medium-sized white mug, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "Take the basic mug in solid white, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.",
+    "With the left arm, grab the white mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the medium white mug with handle, rotate it, place it down, and hang it onto the metal rack with the right arm.",
+    "Use the left arm to pick the plain glossy mug, turn it, place it, then hang on the metallic angular rack with rod pair.",
+    "Take the hand-sized ceramic mug from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "Take the medium white mug with handle, rotate it, set it on the table's center, then hang it onto the rack with angular body.",
+    "Pick the basic mug in solid white using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Use the left arm to grab the smooth white mug with curved handle, flip it, set it down, and then attach it to the smooth rack.",
+    "Use the left arm to grab the glossy mug for beverages, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Lift the smooth and plain drinking mug, rotate it, put it down in the table's center, then hang it onto the angled rack with long and short rods.",
+    "Lift the basic mug in solid white, twist it, set it back, and secure it onto the smooth rack.",
+    "Take the cylindrical mug made of ceramic from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Pick the ceramic mug from the table using one hand, rotate, and hang it on the dark gray angled rack.",
+    "Lift the medium-sized white mug, turn it around, set it in the middle, and place it on the angled rack with long and short rods.",
+    "Lift the white mug with rounded handle, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "Lift the cylindrical mug made of ceramic from the table, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Pick the ceramic mug, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Use the left arm to lift the plain glossy mug, rotate it, put it down, then hook onto the metallic rack with smooth finish.",
+    "Pick the smooth white mug with curved handle from the table, rotate it, place it, and then hang it onto the metallic rack with smooth finish.",
+    "Grab the basic mug in solid white, turn it around, put it back, then attach it to the medium rack with protruding rods.",
+    "Use your left arm to pick the medium-sized white mug, rotate it, set it down, and hang it onto the rack with angular body.",
+    "Use the left arm to grab the medium white mug with handle, rotate it, set it down, then hang the medium white mug with handle onto the rack with two rods sticking out.",
+    "Grab the white mug with rounded handle from the table, rotate it, place it, and hang it onto the dark gray angled rack.",
+    "Grab the smooth and plain drinking mug, rotate it, place it on the table, and hook it onto the angled rack with long and short rods.",
+    "Grab the white mug, rotate it, place it in the middle, and hang it onto the dark gray rack.",
+    "Take the basic mug in solid white from the table, spin it, place it in the center, then hang it on the smooth rack.",
+    "With the left arm, grab the medium white mug with handle, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Use your left arm to grab the medium-sized white mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
+    "Take the white mug with one arm, rotate it, and hang it onto the dark gray rack.",
+    "Use your left arm to grab the smooth and plain drinking mug, rotate it, set it down, then hang on the dark gray rack.",
+    "Using your left arm, lift the medium white mug with handle, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "With the left arm, pick the glossy mug for beverages, rotate it, place it, then hang it onto the metallic angular rack with rod pair.",
+    "Pick up the smooth white mug with curved handle, turn it, place it centrally, then hang the smooth white mug with curved handle onto the dark gray rack.",
+    "Take the hand-sized ceramic mug, rotate it, place it in the center, then hang it on the rack with two rods sticking out.",
+    "Take the white mug, rotate it, place it back on the table, and hang it on the angular rack with slanted support rod afterward.",
+    "Using the left arm, pick the smooth white mug with curved handle, turn it, place it down, and hang it on the smooth rack.",
+    "Lift the ceramic mug, turn it, place it back, and move it onto the metallic angular rack with rod pair with the right arm.",
+    "Use one arm to grab the cylindrical mug made of ceramic, turn it, set it centrally, and use the other to hang it onto the rack with angular body.",
+    "Lift the medium-sized white mug from the table, turn it, put it down in the middle, then hang it onto the metallic angular rack with rod pair.",
+    "Use the right arm to lift the plain glossy mug, rotate it, and attach it to the dark gray rack after setting it down.",
+    "Pick the medium white mug with handle up, twist it, place it back, then hang it onto the rack with two rods sticking out.",
+    "Grab the medium white mug with handle, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+    "Take the white mug, rotate it, set it in the middle, then hang it on the metal rack.",
+    "With the left arm, grab the medium white mug with handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the basic mug in solid white, rotate it, place it down, and hang it onto the rack with two rods sticking out with the right arm.",
+    "Use the left arm to pick the smooth and plain drinking mug, turn it, place it, then hang on the metallic rack with smooth finish.",
+    "Take the smooth and plain drinking mug from the table, rotate it, place it in the center, then hang it onto the metallic rack with smooth finish.",
+    "Take the ceramic mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Pick the medium-sized white mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.",
+    "Use the left arm to grab the cylindrical mug made of ceramic, flip it, set it down, and then attach it to the smooth dark gray rack.",
+    "Use the left arm to grab the cylindrical mug made of ceramic, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack."
+  ],
+  "unseen": [
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the rack with straight and slanted rods.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the rack with straight and slanted rods.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the medium-sized rack.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the dark gray rack with flat back.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the rack with straight and slanted rods.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the medium-sized rack.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the medium-sized rack.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the medium-sized rack.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the dark gray rack with flat back.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the dark gray rack with flat back.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the dark gray rack with flat back.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the dark gray rack with flat back.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the medium-sized rack."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode326.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white drinking mug with smooth surface from the table, rotate it, place it in the middle, and hang it on the smooth rack.",
+    "Use your left arm to grab the cylindrical mug with curved handle, rotate it, set it down, then hang on the metal rack.",
+    "Use the left arm to grab the ceramic mug, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Pick the white mug up, twist it, place it back, then hang it onto the smooth dark gray rack.",
+    "Grab the mug for drinking liquids, rotate it, place it on the table, and hook it onto the smooth dark gray rack.",
+    "Use the left arm to grab the white ceramic mug with handle, rotate it, place it down, and hang it onto the rack with angular body with the right arm.",
+    "Take the medium mug with blue design with one arm, rotate it, and hang it onto the metal rack.",
+    "Use your left arm to grab the printed white ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Using the left arm, pick the printed white ceramic mug, turn it, place it down, and hang it on the smooth dark gray rack.",
+    "Use the left arm to grab the cylindrical mug with curved handle, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Take the smooth white mug, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "Pick up the cylindrical mug with curved handle, turn it, place it centrally, then hang the cylindrical mug with curved handle onto the angled rack with long and short rods.",
+    "Pick the mug for drinking liquids using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Pick the white mug with glossy finish, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
+    "Lift the printed white ceramic mug, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Take the mug with blue print, rotate it, place it in the center, then hang it on the dark gray rack.",
+    "Use the left arm to grab the mug with blue print, rotate it, set it down, then hang the mug with blue print onto the metallic rack with smooth finish.",
+    "Use the right arm to lift the medium mug with blue design, rotate it, and attach it to the smooth dark gray rack after setting it down.",
+    "Pick the cylindrical mug with curved handle from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Take the medium mug with blue design, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.",
+    "Use your left arm to pick the mug with blue print, rotate it, set it down, and hang it onto the smooth rack.",
+    "Lift the ceramic mug from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Take the hand-sized mug with blue artwork from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "Lift the smooth white mug, give it a turn, and hang it onto the metal rack.",
+    "Grab the medium mug with blue design, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Take the ceramic mug from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+    "With the left arm, pick the white ceramic mug with handle, rotate it, place it, then hang it onto the metallic rack with smooth finish.",
+    "Take the white drinking mug with smooth surface from the table, turn it, set it down, and attach it to the metallic rack with smooth finish.",
+    "Lift the printed white ceramic mug, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Take the smooth white mug, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Use one arm to grab the ceramic mug, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.",
+    "Grab the smooth white mug, rotate it, place it in the middle, and hang it onto the dark gray rack.",
+    "Use the left arm to lift the mug with blue print, rotate it, put it down, then hook onto the metallic angular rack with rod pair.",
+    "Lift the white ceramic mug with handle, twist it, set it back, and secure it onto the metal rack.",
+    "Lift the white mug with glossy finish, turn it around, set it in the middle, and place it on the angular rack with slanted support rod.",
+    "With the left arm, grab the cylindrical mug with curved handle, spin it, place it down, then use the right arm to hang it on the metallic angular rack with rod pair.",
+    "Pick the white ceramic mug with handle from the table, rotate it, place it, and then hang it onto the rack with angular body.",
+    "Use the left arm to pick the medium mug with blue design, turn it, place it, then hang on the rack with angular body.",
+    "Using your left arm, lift the hand-sized mug with blue artwork, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Grab the hand-sized mug with blue artwork from the table, rotate it, place it, and hang it onto the angled rack with long and short rods.",
+    "Grab the cylindrical mug with curved handle, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "With the left arm, grab the white drinking mug with smooth surface from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.",
+    "Lift the mug for drinking liquids from the table, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "Use your left arm to grab the ceramic mug, rotate it, set it down, then hang on the rack with two rods sticking out.",
+    "Use the left arm to grab the white mug with glossy finish, flip it, set it down, and then attach it to the dark gray rack.",
+    "Pick the white mug with glossy finish up, twist it, place it back, then hang it onto the smooth rack.",
+    "Grab the hand-sized mug with blue artwork, rotate it, place it on the table, and hook it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the mug with blue print, rotate it, place it down, and hang it onto the medium rack with protruding rods with the right arm.",
+    "Take the medium mug with blue design with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Use your left arm to grab the medium mug with blue design, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
+    "Using the left arm, pick the medium mug with blue design, turn it, place it down, and hang it on the rack with two rods sticking out.",
+    "Use the left arm to grab the white drinking mug with smooth surface, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Take the smooth white mug, rotate it, place it back on the table, and hang it on the dark gray angled rack afterward.",
+    "Pick up the white drinking mug with smooth surface, turn it, place it centrally, then hang the white drinking mug with smooth surface onto the metallic rack with smooth finish.",
+    "Pick the mug for drinking liquids using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
+    "Pick the hand-sized mug with blue artwork, turn it, put it in the center, and transfer it to the metal rack.",
+    "Lift the white mug with glossy finish, rotate it, put it down in the table's center, then hang it onto the dark gray rack.",
+    "Take the cylindrical mug with curved handle, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Use the left arm to grab the mug for drinking liquids, rotate it, set it down, then hang the mug for drinking liquids onto the metallic rack with smooth finish.",
+    "Use the right arm to lift the hand-sized mug with blue artwork, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Pick the ceramic mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods.",
+    "Take the cylindrical mug with curved handle, rotate it, set it in the middle, then hang it on the metallic rack with smooth finish.",
+    "Use your left arm to pick the ceramic mug, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the medium mug with blue design from the table, turn it, put it down in the middle, then hang it onto the smooth rack.",
+    "Take the printed white ceramic mug from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.",
+    "Lift the hand-sized mug with blue artwork, give it a turn, and hang it onto the smooth dark gray rack.",
+    "Grab the white mug with glossy finish, turn it around, put it back, then attach it to the metal rack.",
+    "Take the mug with blue print from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+    "With the left arm, pick the white mug with glossy finish, rotate it, place it, then hang it onto the medium rack with protruding rods.",
+    "Take the white mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Lift the white mug with glossy finish, turn it, place it back, and move it onto the metal rack with the right arm.",
+    "Take the mug for drinking liquids, rotate it, set it on the table's center, then hang it onto the rack with angular body.",
+    "Use one arm to grab the smooth white mug, turn it, set it centrally, and use the other to hang it onto the angled rack with long and short rods.",
+    "Grab the smooth white mug, rotate it, place it in the middle, and hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to lift the cylindrical mug with curved handle, rotate it, put it down, then hook onto the dark gray rack.",
+    "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the angled rack with long and short rods.",
+    "Lift the mug with blue print, turn it around, set it in the middle, and place it on the medium rack with protruding rods.",
+    "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the metallic rack with smooth finish.",
+    "Pick the mug for drinking liquids from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Use the left arm to pick the mug with blue print, turn it, place it, then hang on the metallic angular rack with rod pair.",
+    "Using your left arm, lift the white mug, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.",
+    "Grab the white ceramic mug with handle from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.",
+    "Grab the hand-sized mug with blue artwork, rotate it, place it in the middle, and hang it on the metal rack.",
+    "With the left arm, grab the mug for drinking liquids from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Lift the white mug with glossy finish from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Use your left arm to grab the smooth white mug, rotate it, set it down, then hang on the metallic angular rack with rod pair.",
+    "Use the left arm to grab the medium mug with blue design, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Pick the mug with blue print up, twist it, place it back, then hang it onto the smooth rack.",
+    "Grab the mug for drinking liquids, rotate it, place it on the table, and hook it onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the mug with blue print, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Take the white drinking mug with smooth surface with one arm, rotate it, and hang it onto the smooth rack.",
+    "Use your left arm to grab the white mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Using the left arm, pick the hand-sized mug with blue artwork, turn it, place it down, and hang it on the dark gray angled rack.",
+    "Use the left arm to grab the medium mug with blue design, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Take the ceramic mug, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.",
+    "Pick up the white drinking mug with smooth surface, turn it, place it centrally, then hang the white drinking mug with smooth surface onto the smooth rack.",
+    "Pick the white mug with glossy finish using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.",
+    "Pick the medium mug with blue design, turn it, put it in the center, and transfer it to the metallic rack with smooth finish.",
+    "Lift the ceramic mug, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Take the medium mug with blue design, rotate it, place it in the center, then hang it on the dark gray rack."
+  ],
+  "unseen": [
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug shaped like a cylinder from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the medium-sized rack.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the dark gray rack with flat back.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the rack with straight and slanted rods."
+  ]
+}

hanging_mug/ur5_randomized_500/instructions/episode482.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the beige mug handle on side, rotate it, place it on the table, and hook it onto the dark gray rack.",
+    "Lift the ceramic mug smooth beige surface from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.",
+    "With the left arm, pick the ceramic mug, rotate it, place it, then hang it onto the dark gray angled rack.",
+    "Lift the hand-sized ceramic cylindrical mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the beige ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Lift the ceramic mug from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Using the left arm, pick the medium mug with smooth texture, turn it, place it down, and hang it on the rack with angular body.",
+    "Use the left arm to grab the ceramic mug smooth beige surface, rotate it, place it down, and hang it onto the smooth rack with the right arm.",
+    "Take the light beige ceramic drinking mug, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Take the ceramic mug with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "Take the beige ceramic mug from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Lift the light beige ceramic drinking mug, twist it, set it back, and secure it onto the angular rack with slanted support rod.",
+    "Pick the smooth ceramic beige mug from the table, rotate it, place it, and then hang it onto the dark gray angled rack.",
+    "With the left arm, grab the medium beige mug, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Take the beige mug polished ceramic build, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.",
+    "Use the right arm to lift the beige ceramic mug, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Use one arm to grab the beige mug handle on side, turn it, set it centrally, and use the other to hang it onto the medium rack with protruding rods.",
+    "Take the medium beige mug from the table, turn it, set it down, and attach it to the angled rack with long and short rods.",
+    "Pick the beige mug polished ceramic build using your left arm, turn it, set it on the table, and hang it on the metallic rack with smooth finish with the right arm.",
+    "Using your left arm, lift the medium beige mug, rotate it, place it down, then your right arm to hang it onto the rack with two rods sticking out.",
+    "Lift the light beige ceramic drinking mug, give it a turn, and hang it onto the angled rack with long and short rods.",
+    "Use the left arm to lift the ceramic mug, rotate it, put it down, then hook onto the rack with two rods sticking out.",
+    "Pick the medium mug with smooth texture from the table using one hand, rotate, and hang it on the dark gray rack.",
+    "Lift the ceramic mug, turn it, place it back, and move it onto the dark gray angled rack with the right arm.",
+    "Grab the medium mug with smooth texture, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Use your left arm to pick the light beige ceramic drinking mug, rotate it, set it down, and hang it onto the metal rack.",
+    "Grab the medium beige mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "With the left arm, grab the smooth ceramic beige mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.",
+    "Grab the smooth ceramic beige mug, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod.",
+    "Take the ceramic mug from the table, rotate it, place it in the center, then hang it onto the metal rack.",
+    "Use your left arm to grab the beige mug handle on side, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Take the beige mug handle on side, rotate it, set it on the table's center, then hang it onto the smooth rack.",
+    "Pick up the light beige ceramic drinking mug, turn it, place it centrally, then hang the light beige ceramic drinking mug onto the angled rack with long and short rods.",
+    "Use the left arm to grab the beige mug handle on side, rotate it, set it down, then hang the beige mug handle on side onto the medium rack with protruding rods.",
+    "Use the left arm to pick the beige mug handle on side, turn it, place it, then hang on the rack with angular body.",
+    "Pick the hand-sized ceramic cylindrical mug up, twist it, place it back, then hang it onto the smooth dark gray rack.",
+    "Pick the hand-sized ceramic cylindrical mug, turn it, put it in the center, and transfer it to the metal rack.",
+    "Take the mug with rounded handle, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.",
+    "Lift the smooth ceramic beige mug, turn it around, set it in the middle, and place it on the smooth rack.",
+    "Use your left arm to grab the light beige drinking mug, rotate it, set it down, then hang on the angled rack with long and short rods.",
+    "Grab the light beige ceramic drinking mug from the table, rotate it, place it, and hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the ceramic mug smooth beige surface, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Grab the medium mug with smooth texture, rotate it, place it on the table, and hook it onto the dark gray rack.",
+    "Lift the light beige drinking mug from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.",
+    "With the left arm, pick the beige ceramic mug, rotate it, place it, then hang it onto the angular rack with slanted support rod.",
+    "Lift the medium mug with smooth texture, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.",
+    "Use the left arm to grab the beige mug handle on side, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Lift the smooth ceramic beige mug from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "Use the left arm to grab the beige ceramic mug, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Take the beige mug handle on side, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Take the beige ceramic mug with one arm, rotate it, and hang it onto the metallic rack with smooth finish.",
+    "Take the ceramic mug smooth beige surface from the table, spin it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Lift the beige mug handle on side, twist it, set it back, and secure it onto the dark gray angled rack.",
+    "Pick the ceramic mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.",
+    "With the left arm, grab the hand-sized ceramic cylindrical mug, spin it, place it down, then use the right arm to hang it on the angled rack with long and short rods.",
+    "Take the light beige drinking mug, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.",
+    "Use the right arm to lift the beige mug handle on side, rotate it, and attach it to the rack with two rods sticking out after setting it down.",
+    "Use one arm to grab the smooth ceramic beige mug, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.",
+    "Take the beige mug handle on side from the table, turn it, set it down, and attach it to the dark gray rack.",
+    "Pick the mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the metallic angular rack with rod pair with the right arm.",
+    "Using your left arm, lift the hand-sized ceramic cylindrical mug, rotate it, place it down, then your right arm to hang it onto the dark gray rack.",
+    "Lift the medium mug with smooth texture, give it a turn, and hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to lift the beige mug handle on side, rotate it, put it down, then hook onto the rack with angular body.",
+    "Pick the smooth ceramic beige mug from the table using one hand, rotate, and hang it on the dark gray angled rack.",
+    "Lift the beige ceramic mug, turn it, place it back, and move it onto the rack with angular body with the right arm.",
+    "Grab the light beige ceramic drinking mug, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Use your left arm to pick the hand-sized ceramic cylindrical mug, rotate it, set it down, and hang it onto the smooth dark gray rack.",
+    "Grab the hand-sized ceramic cylindrical mug, turn it around, put it back, then attach it to the rack with angular body.",
+    "With the left arm, grab the light beige drinking mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Grab the smooth ceramic beige mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Take the beige mug polished ceramic build from the table, rotate it, place it in the center, then hang it onto the metallic rack with smooth finish.",
+    "Use your left arm to grab the light beige ceramic drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Take the light beige ceramic drinking mug, rotate it, set it on the table's center, then hang it onto the rack with two rods sticking out.",
+    "Pick up the hand-sized ceramic cylindrical mug, turn it, place it centrally, then hang the hand-sized ceramic cylindrical mug onto the angled rack with long and short rods.",
+    "Use the left arm to grab the beige mug handle on side, rotate it, set it down, then hang the beige mug handle on side onto the medium rack with protruding rods.",
+    "Use the left arm to pick the medium mug with smooth texture, turn it, place it, then hang on the metallic angular rack with rod pair.",
+    "Pick the smooth ceramic beige mug up, twist it, place it back, then hang it onto the metal rack.",
+    "Pick the light beige drinking mug, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Take the light beige ceramic drinking mug, rotate it, place it back on the table, and hang it on the rack with angular body afterward.",
+    "Lift the beige mug polished ceramic build, turn it around, set it in the middle, and place it on the metal rack.",
+    "Use your left arm to grab the hand-sized ceramic cylindrical mug, rotate it, set it down, then hang on the metallic rack with smooth finish.",
+    "Grab the ceramic mug smooth beige surface from the table, rotate it, place it, and hang it onto the smooth rack.",
+    "Use the left arm to grab the light beige drinking mug, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Grab the ceramic mug, rotate it, place it on the table, and hook it onto the rack with angular body.",
+    "Lift the mug with rounded handle from the table, turn it, put it down in the middle, then hang it onto the metallic angular rack with rod pair.",
+    "With the left arm, pick the medium beige mug, rotate it, place it, then hang it onto the metallic rack with smooth finish.",
+    "Lift the ceramic mug smooth beige surface, rotate it, put it down in the table's center, then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Lift the ceramic mug smooth beige surface from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Using the left arm, pick the ceramic mug smooth beige surface, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "Use the left arm to grab the light beige ceramic drinking mug, rotate it, place it down, and hang it onto the metal rack with the right arm.",
+    "Take the beige ceramic mug, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Take the mug with rounded handle with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Take the beige ceramic mug from the table, spin it, place it in the center, then hang it on the smooth rack.",
+    "Lift the mug with rounded handle, twist it, set it back, and secure it onto the angular rack with slanted support rod.",
+    "Pick the medium mug with smooth texture from the table, rotate it, place it, and then hang it onto the angular rack with slanted support rod.",
+    "With the left arm, grab the beige ceramic mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Take the light beige ceramic drinking mug, rotate it, set it in the middle, then hang it on the medium rack with protruding rods.",
+    "Use the right arm to lift the mug with rounded handle, rotate it, and attach it to the metallic rack with smooth finish after setting it down."
+  ],
+  "unseen": [
+    "Lift the cylindrical mug with handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the mug beige smooth cylinder shape, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the mug beige smooth cylinder shape with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle from the table, rotate it, and set it in the center. Then hang the cylindrical mug with handle on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the cylindrical mug with handle with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the mug beige smooth cylinder shape from the table, rotate it, and set it in the center. Then hang the mug beige smooth cylinder shape on the rack with straight and slanted rods.",
+    "Grab the beige mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the cylindrical mug with handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the mug beige smooth cylinder shape, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the mug beige smooth cylinder shape with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle from the table, rotate it, and set it in the center. Then hang the cylindrical mug with handle on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the cylindrical mug with handle, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug beige smooth cylinder shape on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug beige smooth cylinder shape from the table, rotate it, and set it in the center. Then hang the mug beige smooth cylinder shape on the medium-sized rack.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the mug beige smooth cylinder shape, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug beige smooth cylinder shape on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the mug beige smooth cylinder shape from the table, rotate it, and set it in the center. Then hang the mug beige smooth cylinder shape on the dark gray rack with flat back.",
+    "Grab the mug beige smooth cylinder shape, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical mug with handle from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the cylindrical mug with handle with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the medium-sized rack.",
+    "Grab the mug beige smooth cylinder shape, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the cylindrical mug with handle with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle from the table, rotate it, and set it in the center. Then hang the cylindrical mug with handle on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical mug with handle, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the cylindrical mug with handle, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the cylindrical mug with handle from the table, rotate it, and set it in the center. Then hang the cylindrical mug with handle on the rack with straight and slanted rods.",
+    "Grab the beige mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Lift the cylindrical mug with handle, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the cylindrical mug with handle, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the mug beige smooth cylinder shape with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle from the table, rotate it, and set it in the center. Then hang the cylindrical mug with handle on the dark gray rack with flat back.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the cylindrical mug with handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick up the mug beige smooth cylinder shape, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug beige smooth cylinder shape on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick the beige mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug beige smooth cylinder shape from the table, rotate it, and set it in the center. Then hang the mug beige smooth cylinder shape on the rack with straight and slanted rods.",
+    "Grab the mug beige smooth cylinder shape, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the beige mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the mug beige smooth cylinder shape, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the cylindrical mug with handle, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the beige mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick the cylindrical mug with handle with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the medium-sized rack.",
+    "Grab the cylindrical mug with handle, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the cylindrical mug with handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Lift the beige mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the beige mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the cylindrical mug with handle on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick the mug beige smooth cylinder shape with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the beige mug from the table, rotate it, and set it in the center. Then hang the beige mug on the rack with straight and slanted rods.",
+    "Grab the beige mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the beige mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the mug beige smooth cylinder shape from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical mug with handle, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick up the mug beige smooth cylinder shape, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug beige smooth cylinder shape on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back."
+  ]
+}