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BorisGuo
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world_model_dataset

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  1. handover_block/arx-x5_randomized_500/instructions/episode367.json +206 -0
  2. handover_block/arx-x5_randomized_500/instructions/episode413.json +206 -0
  3. handover_block/piper_randomized_500/instructions/episode13.json +206 -0
  4. handover_block/piper_randomized_500/instructions/episode151.json +206 -0
  5. handover_block/piper_randomized_500/instructions/episode183.json +206 -0
  6. handover_block/piper_randomized_500/instructions/episode195.json +206 -0
  7. handover_block/piper_randomized_500/instructions/episode225.json +206 -0
  8. handover_block/piper_randomized_500/instructions/episode231.json +206 -0
  9. handover_block/piper_randomized_500/instructions/episode233.json +206 -0
  10. handover_block/piper_randomized_500/instructions/episode247.json +206 -0
  11. handover_block/piper_randomized_500/instructions/episode266.json +206 -0
  12. handover_block/piper_randomized_500/instructions/episode280.json +206 -0
  13. handover_block/piper_randomized_500/instructions/episode281.json +206 -0
  14. handover_block/piper_randomized_500/instructions/episode323.json +206 -0
  15. handover_block/piper_randomized_500/instructions/episode325.json +206 -0
  16. handover_block/piper_randomized_500/instructions/episode326.json +206 -0
  17. handover_block/piper_randomized_500/instructions/episode442.json +206 -0
  18. handover_block/piper_randomized_500/instructions/episode457.json +206 -0
  19. handover_block/piper_randomized_500/instructions/episode482.json +206 -0
  20. handover_block/piper_randomized_500/instructions/episode50.json +206 -0
handover_block/arx-x5_randomized_500/instructions/episode367.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
4
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
5
+ "Pick the red block with the left arm and transfer to the right.",
6
+ "Grip the red block with the left arm and transfer it.",
7
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
8
+ "Lift, switch arms, and place the red block.",
9
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
10
+ "Grab the red block, hand it to the right arm, then set it down.",
11
+ "Lift the red block, hand it over, and place it properly.",
12
+ "Move the red block using the left arm.",
13
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
14
+ "Set the red block on the blue pad gently.",
15
+ "Hold the red block, transfer to the right arm, then set it down.",
16
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
17
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
18
+ "Grab red block, pass to the right arm, then drop on blue pad.",
19
+ "Use your arms to shift the red block.",
20
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
21
+ "Take the red block, pass it to the right arm, then place it.",
22
+ "Use left arm to grab the block and hand it to the right.",
23
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
24
+ "Grab the red block and transfer to the right.",
25
+ "Place the red block onto the blue pad using the right arm.",
26
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
27
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
28
+ "Use left arm to grab the red block and place it on the pad.",
29
+ "Lift the block with the left arm, pass it to the right arm.",
30
+ "Lift the red block with your left arm.",
31
+ "Pass the red block from the left to the right.",
32
+ "Use the left arm to grab the red block.",
33
+ "Pick the red block with the left hand and pass it.",
34
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
35
+ "Hand over the red block to the right arm.",
36
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
37
+ "Pick up and handover the red block.",
38
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
39
+ "Grab the red block, transfer it, and set it on blue.",
40
+ "Take the red block and move it to the pad.",
41
+ "Move the red block from the left hand to the pad.",
42
+ "Place the red block on the blue pad.",
43
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
44
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
45
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
46
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
47
+ "Take the red block using the left arm and hand it over.",
48
+ "Hold the red block with the left arm and place it on the pad.",
49
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
50
+ "Hand the red block to the right arm.",
51
+ "Take the red block, pass it to the right arm, and drop it.",
52
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
53
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
54
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
55
+ "Pick the red block with the left arm and transfer to the right.",
56
+ "Grip the red block with the left arm and transfer it.",
57
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
58
+ "Lift, switch arms, and place the red block.",
59
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
60
+ "Grab the red block, hand it to the right arm, then set it down.",
61
+ "Lift the red block, hand it over, and place it properly.",
62
+ "Move the red block using the left arm.",
63
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
64
+ "Set the red block on the blue pad gently.",
65
+ "Hold the red block, transfer to the right arm, then set it down.",
66
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
67
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
68
+ "Grab red block, pass to the right arm, then drop on blue pad.",
69
+ "Use your arms to shift the red block.",
70
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
71
+ "Take the red block, pass it to the right arm, then place it.",
72
+ "Use left arm to grab the block and hand it to the right.",
73
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
74
+ "Grab the red block and transfer to the right.",
75
+ "Place the red block onto the blue pad using the right arm.",
76
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
77
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
78
+ "Use left arm to grab the red block and place it on the pad.",
79
+ "Lift the block with the left arm, pass it to the right arm.",
80
+ "Lift the red block with your left arm.",
81
+ "Pass the red block from the left to the right.",
82
+ "Use the left arm to grab the red block.",
83
+ "Pick the red block with the left hand and pass it.",
84
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
85
+ "Hand over the red block to the right arm.",
86
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
87
+ "Pick up and handover the red block.",
88
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
89
+ "Grab the red block, transfer it, and set it on blue.",
90
+ "Take the red block and move it to the pad.",
91
+ "Move the red block from the left hand to the pad.",
92
+ "Place the red block on the blue pad.",
93
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
94
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
95
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
96
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
97
+ "Take the red block using the left arm and hand it over.",
98
+ "Hold the red block with the left arm and place it on the pad.",
99
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
100
+ "Hand the red block to the right arm.",
101
+ "Take the red block, pass it to the right arm, and drop it.",
102
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm.",
106
+ "Grab the red block using the left arm.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
109
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
110
+ "Grab the red block with the left arm.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Pick up the red block and switch arms.",
113
+ "Pass the red block to the right arm and set it down.",
114
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
115
+ "Grab the red block with the left arm.",
116
+ "Grab the red block using the left arm.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
119
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
120
+ "Grab the red block with the left arm.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Pick up the red block and switch arms.",
123
+ "Pass the red block to the right arm and set it down.",
124
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
125
+ "Grab the red block with the left arm.",
126
+ "Grab the red block using the left arm.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
129
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
130
+ "Grab the red block with the left arm.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Pick up the red block and switch arms.",
133
+ "Pass the red block to the right arm and set it down.",
134
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
135
+ "Grab the red block with the left arm.",
136
+ "Grab the red block using the left arm.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
139
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
140
+ "Grab the red block with the left arm.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Pick up the red block and switch arms.",
143
+ "Pass the red block to the right arm and set it down.",
144
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
145
+ "Grab the red block with the left arm.",
146
+ "Grab the red block using the left arm.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
149
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
150
+ "Grab the red block with the left arm.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Pick up the red block and switch arms.",
153
+ "Pass the red block to the right arm and set it down.",
154
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
155
+ "Grab the red block with the left arm.",
156
+ "Grab the red block using the left arm.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
159
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
160
+ "Grab the red block with the left arm.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Pick up the red block and switch arms.",
163
+ "Pass the red block to the right arm and set it down.",
164
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
165
+ "Grab the red block with the left arm.",
166
+ "Grab the red block using the left arm.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
169
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
170
+ "Grab the red block with the left arm.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Pick up the red block and switch arms.",
173
+ "Pass the red block to the right arm and set it down.",
174
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
175
+ "Grab the red block with the left arm.",
176
+ "Grab the red block using the left arm.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
179
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
180
+ "Grab the red block with the left arm.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Pick up the red block and switch arms.",
183
+ "Pass the red block to the right arm and set it down.",
184
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
185
+ "Grab the red block with the left arm.",
186
+ "Grab the red block using the left arm.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
189
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
190
+ "Grab the red block with the left arm.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Pick up the red block and switch arms.",
193
+ "Pass the red block to the right arm and set it down.",
194
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
195
+ "Grab the red block with the left arm.",
196
+ "Grab the red block using the left arm.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
199
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
200
+ "Grab the red block with the left arm.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Pick up the red block and switch arms.",
203
+ "Pass the red block to the right arm and set it down.",
204
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_randomized_500/instructions/episode413.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
4
+ "Grab the red block, transfer it, and set it on blue.",
5
+ "Hand over the red block to the right arm.",
6
+ "Grab the red block and transfer to the right.",
7
+ "Use left arm to grab the red block and place it on the pad.",
8
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
9
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
10
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
11
+ "Take the red block, pass it to the right arm, then place it.",
12
+ "Lift the red block, hand it over, and place it properly.",
13
+ "Grab red block, pass to the right arm, then drop on blue pad.",
14
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
15
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
16
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
17
+ "Place the red block onto the blue pad using the right arm.",
18
+ "Take the red block, pass it to the right arm, and drop it.",
19
+ "Use the left arm to grab the red block.",
20
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
21
+ "Pick the red block with the left hand and pass it.",
22
+ "Place the red block on the blue pad.",
23
+ "Grab the red block, hand it to the right arm, then set it down.",
24
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
25
+ "Lift, switch arms, and place the red block.",
26
+ "Lift the block with the left arm, pass it to the right arm.",
27
+ "Move the red block using the left arm.",
28
+ "Use your arms to shift the red block.",
29
+ "Pick the red block with the left arm and transfer to the right.",
30
+ "Set the red block on the blue pad gently.",
31
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
32
+ "Pick up and handover the red block.",
33
+ "Move the red block from the left hand to the pad.",
34
+ "Hand the red block to the right arm.",
35
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
36
+ "Take the red block and move it to the pad.",
37
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
38
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
39
+ "Lift the red block with your left arm.",
40
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
41
+ "Pass the red block from the left to the right.",
42
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
43
+ "Hold the red block with the left arm and place it on the pad.",
44
+ "Use left arm to grab the block and hand it to the right.",
45
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
46
+ "Grip the red block with the left arm and transfer it.",
47
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
48
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
49
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
50
+ "Take the red block using the left arm and hand it over.",
51
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
52
+ "Hold the red block, transfer to the right arm, then set it down.",
53
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
54
+ "Grab the red block, transfer it, and set it on blue.",
55
+ "Hand over the red block to the right arm.",
56
+ "Grab the red block and transfer to the right.",
57
+ "Use left arm to grab the red block and place it on the pad.",
58
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
59
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
60
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
61
+ "Take the red block, pass it to the right arm, then place it.",
62
+ "Lift the red block, hand it over, and place it properly.",
63
+ "Grab red block, pass to the right arm, then drop on blue pad.",
64
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
65
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
66
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
67
+ "Place the red block onto the blue pad using the right arm.",
68
+ "Take the red block, pass it to the right arm, and drop it.",
69
+ "Use the left arm to grab the red block.",
70
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
71
+ "Pick the red block with the left hand and pass it.",
72
+ "Place the red block on the blue pad.",
73
+ "Grab the red block, hand it to the right arm, then set it down.",
74
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
75
+ "Lift, switch arms, and place the red block.",
76
+ "Lift the block with the left arm, pass it to the right arm.",
77
+ "Move the red block using the left arm.",
78
+ "Use your arms to shift the red block.",
79
+ "Pick the red block with the left arm and transfer to the right.",
80
+ "Set the red block on the blue pad gently.",
81
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
82
+ "Pick up and handover the red block.",
83
+ "Move the red block from the left hand to the pad.",
84
+ "Hand the red block to the right arm.",
85
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
86
+ "Take the red block and move it to the pad.",
87
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
88
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
89
+ "Lift the red block with your left arm.",
90
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
91
+ "Pass the red block from the left to the right.",
92
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
93
+ "Hold the red block with the left arm and place it on the pad.",
94
+ "Use left arm to grab the block and hand it to the right.",
95
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
96
+ "Grip the red block with the left arm and transfer it.",
97
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
98
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
99
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
100
+ "Take the red block using the left arm and hand it over.",
101
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
102
+ "Hold the red block, transfer to the right arm, then set it down."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Pass the red block to the right arm and set it down.",
107
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
108
+ "Use the left arm to pick up the red block.",
109
+ "Pick up the red block and switch arms.",
110
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
111
+ "Grab the red block with the left arm.",
112
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
113
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
114
+ "Grab the red block with the left arm.",
115
+ "Grab the red block using the left arm.",
116
+ "Pass the red block to the right arm and set it down.",
117
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
118
+ "Use the left arm to pick up the red block.",
119
+ "Pick up the red block and switch arms.",
120
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
121
+ "Grab the red block with the left arm.",
122
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
123
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
124
+ "Grab the red block with the left arm.",
125
+ "Grab the red block using the left arm.",
126
+ "Pass the red block to the right arm and set it down.",
127
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
128
+ "Use the left arm to pick up the red block.",
129
+ "Pick up the red block and switch arms.",
130
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
131
+ "Grab the red block with the left arm.",
132
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
133
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
134
+ "Grab the red block with the left arm.",
135
+ "Grab the red block using the left arm.",
136
+ "Pass the red block to the right arm and set it down.",
137
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
138
+ "Use the left arm to pick up the red block.",
139
+ "Pick up the red block and switch arms.",
140
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
141
+ "Grab the red block with the left arm.",
142
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
143
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
144
+ "Grab the red block with the left arm.",
145
+ "Grab the red block using the left arm.",
146
+ "Pass the red block to the right arm and set it down.",
147
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
148
+ "Use the left arm to pick up the red block.",
149
+ "Pick up the red block and switch arms.",
150
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
151
+ "Grab the red block with the left arm.",
152
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
153
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
154
+ "Grab the red block with the left arm.",
155
+ "Grab the red block using the left arm.",
156
+ "Pass the red block to the right arm and set it down.",
157
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
158
+ "Use the left arm to pick up the red block.",
159
+ "Pick up the red block and switch arms.",
160
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
161
+ "Grab the red block with the left arm.",
162
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
163
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
164
+ "Grab the red block with the left arm.",
165
+ "Grab the red block using the left arm.",
166
+ "Pass the red block to the right arm and set it down.",
167
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
168
+ "Use the left arm to pick up the red block.",
169
+ "Pick up the red block and switch arms.",
170
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
171
+ "Grab the red block with the left arm.",
172
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
173
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
174
+ "Grab the red block with the left arm.",
175
+ "Grab the red block using the left arm.",
176
+ "Pass the red block to the right arm and set it down.",
177
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
178
+ "Use the left arm to pick up the red block.",
179
+ "Pick up the red block and switch arms.",
180
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
181
+ "Grab the red block with the left arm.",
182
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
183
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
184
+ "Grab the red block with the left arm.",
185
+ "Grab the red block using the left arm.",
186
+ "Pass the red block to the right arm and set it down.",
187
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
188
+ "Use the left arm to pick up the red block.",
189
+ "Pick up the red block and switch arms.",
190
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
191
+ "Grab the red block with the left arm.",
192
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
193
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
194
+ "Grab the red block with the left arm.",
195
+ "Grab the red block using the left arm.",
196
+ "Pass the red block to the right arm and set it down.",
197
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
198
+ "Use the left arm to pick up the red block.",
199
+ "Pick up the red block and switch arms.",
200
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
201
+ "Grab the red block with the left arm.",
202
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
203
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode13.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Place the red block on the blue pad.",
4
+ "Set the red block on the blue pad gently.",
5
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
6
+ "Grip the red block with the left arm and transfer it.",
7
+ "Lift the red block with your left arm.",
8
+ "Lift, switch arms, and place the red block.",
9
+ "Move the red block using the left arm.",
10
+ "Pass the red block from the left to the right.",
11
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
12
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
13
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
14
+ "Use your arms to shift the red block.",
15
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
16
+ "Use the left arm to grab the red block.",
17
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
18
+ "Take the red block, pass it to the right arm, and drop it.",
19
+ "Lift the block with the left arm, pass it to the right arm.",
20
+ "Hold the red block with the left arm and place it on the pad.",
21
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
22
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
23
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
24
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
25
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
26
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
27
+ "Grab the red block, transfer it, and set it on blue.",
28
+ "Lift the red block, hand it over, and place it properly.",
29
+ "Grab the red block and transfer to the right.",
30
+ "Use left arm to grab the red block and place it on the pad.",
31
+ "Pick the red block with the left hand and pass it.",
32
+ "Grab the red block, hand it to the right arm, then set it down.",
33
+ "Hand over the red block to the right arm.",
34
+ "Place the red block onto the blue pad using the right arm.",
35
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
36
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
37
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
38
+ "Hand the red block to the right arm.",
39
+ "Hold the red block, transfer to the right arm, then set it down.",
40
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
41
+ "Move the red block from the left hand to the pad.",
42
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
43
+ "Take the red block using the left arm and hand it over.",
44
+ "Take the red block and move it to the pad.",
45
+ "Pick the red block with the left arm and transfer to the right.",
46
+ "Take the red block, pass it to the right arm, then place it.",
47
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
48
+ "Grab red block, pass to the right arm, then drop on blue pad.",
49
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
50
+ "Pick up and handover the red block.",
51
+ "Use left arm to grab the block and hand it to the right.",
52
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
53
+ "Place the red block on the blue pad.",
54
+ "Set the red block on the blue pad gently.",
55
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
56
+ "Grip the red block with the left arm and transfer it.",
57
+ "Lift the red block with your left arm.",
58
+ "Lift, switch arms, and place the red block.",
59
+ "Move the red block using the left arm.",
60
+ "Pass the red block from the left to the right.",
61
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
62
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
63
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
64
+ "Use your arms to shift the red block.",
65
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
66
+ "Use the left arm to grab the red block.",
67
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
68
+ "Take the red block, pass it to the right arm, and drop it.",
69
+ "Lift the block with the left arm, pass it to the right arm.",
70
+ "Hold the red block with the left arm and place it on the pad.",
71
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
72
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
73
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
74
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
75
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
76
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
77
+ "Grab the red block, transfer it, and set it on blue.",
78
+ "Lift the red block, hand it over, and place it properly.",
79
+ "Grab the red block and transfer to the right.",
80
+ "Use left arm to grab the red block and place it on the pad.",
81
+ "Pick the red block with the left hand and pass it.",
82
+ "Grab the red block, hand it to the right arm, then set it down.",
83
+ "Hand over the red block to the right arm.",
84
+ "Place the red block onto the blue pad using the right arm.",
85
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
86
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
87
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
88
+ "Hand the red block to the right arm.",
89
+ "Hold the red block, transfer to the right arm, then set it down.",
90
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
91
+ "Move the red block from the left hand to the pad.",
92
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
93
+ "Take the red block using the left arm and hand it over.",
94
+ "Take the red block and move it to the pad.",
95
+ "Pick the red block with the left arm and transfer to the right.",
96
+ "Take the red block, pass it to the right arm, then place it.",
97
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
98
+ "Grab red block, pass to the right arm, then drop on blue pad.",
99
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
100
+ "Pick up and handover the red block.",
101
+ "Use left arm to grab the block and hand it to the right.",
102
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm.",
106
+ "Pass the red block to the right arm and set it down.",
107
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
108
+ "Grab the red block with the left arm.",
109
+ "Pick up the red block and switch arms.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Grab the red block using the left arm.",
114
+ "Use the left arm to pick up the red block.",
115
+ "Grab the red block with the left arm.",
116
+ "Pass the red block to the right arm and set it down.",
117
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
118
+ "Grab the red block with the left arm.",
119
+ "Pick up the red block and switch arms.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Grab the red block using the left arm.",
124
+ "Use the left arm to pick up the red block.",
125
+ "Grab the red block with the left arm.",
126
+ "Pass the red block to the right arm and set it down.",
127
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
128
+ "Grab the red block with the left arm.",
129
+ "Pick up the red block and switch arms.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Grab the red block using the left arm.",
134
+ "Use the left arm to pick up the red block.",
135
+ "Grab the red block with the left arm.",
136
+ "Pass the red block to the right arm and set it down.",
137
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
138
+ "Grab the red block with the left arm.",
139
+ "Pick up the red block and switch arms.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Grab the red block using the left arm.",
144
+ "Use the left arm to pick up the red block.",
145
+ "Grab the red block with the left arm.",
146
+ "Pass the red block to the right arm and set it down.",
147
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
148
+ "Grab the red block with the left arm.",
149
+ "Pick up the red block and switch arms.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Grab the red block using the left arm.",
154
+ "Use the left arm to pick up the red block.",
155
+ "Grab the red block with the left arm.",
156
+ "Pass the red block to the right arm and set it down.",
157
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
158
+ "Grab the red block with the left arm.",
159
+ "Pick up the red block and switch arms.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Grab the red block using the left arm.",
164
+ "Use the left arm to pick up the red block.",
165
+ "Grab the red block with the left arm.",
166
+ "Pass the red block to the right arm and set it down.",
167
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
168
+ "Grab the red block with the left arm.",
169
+ "Pick up the red block and switch arms.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Grab the red block using the left arm.",
174
+ "Use the left arm to pick up the red block.",
175
+ "Grab the red block with the left arm.",
176
+ "Pass the red block to the right arm and set it down.",
177
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
178
+ "Grab the red block with the left arm.",
179
+ "Pick up the red block and switch arms.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Grab the red block using the left arm.",
184
+ "Use the left arm to pick up the red block.",
185
+ "Grab the red block with the left arm.",
186
+ "Pass the red block to the right arm and set it down.",
187
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
188
+ "Grab the red block with the left arm.",
189
+ "Pick up the red block and switch arms.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Grab the red block using the left arm.",
194
+ "Use the left arm to pick up the red block.",
195
+ "Grab the red block with the left arm.",
196
+ "Pass the red block to the right arm and set it down.",
197
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
198
+ "Grab the red block with the left arm.",
199
+ "Pick up the red block and switch arms.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Grab the red block using the left arm.",
204
+ "Use the left arm to pick up the red block."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode151.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Set the red block on the blue pad gently.",
4
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
5
+ "Use your arms to shift the red block.",
6
+ "Lift the red block, hand it over, and place it properly.",
7
+ "Grab red block, pass to the right arm, then drop on blue pad.",
8
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
9
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
10
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
11
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
12
+ "Hand the red block to the right arm.",
13
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
14
+ "Hold the red block, transfer to the right arm, then set it down.",
15
+ "Use left arm to grab the block and hand it to the right.",
16
+ "Grip the red block with the left arm and transfer it.",
17
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
18
+ "Move the red block using the left arm.",
19
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
20
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
21
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
22
+ "Take the red block using the left arm and hand it over.",
23
+ "Take the red block, pass it to the right arm, then place it.",
24
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
25
+ "Hand over the red block to the right arm.",
26
+ "Grab the red block, transfer it, and set it on blue.",
27
+ "Pick the red block with the left arm and transfer to the right.",
28
+ "Pass the red block from the left to the right.",
29
+ "Move the red block from the left hand to the pad.",
30
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
31
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
32
+ "Lift, switch arms, and place the red block.",
33
+ "Pick the red block with the left hand and pass it.",
34
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
35
+ "Take the red block and move it to the pad.",
36
+ "Take the red block, pass it to the right arm, and drop it.",
37
+ "Grab the red block and transfer to the right.",
38
+ "Use the left arm to grab the red block.",
39
+ "Hold the red block with the left arm and place it on the pad.",
40
+ "Use left arm to grab the red block and place it on the pad.",
41
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
42
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
43
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
44
+ "Grab the red block, hand it to the right arm, then set it down.",
45
+ "Lift the block with the left arm, pass it to the right arm.",
46
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
47
+ "Pick up and handover the red block.",
48
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
49
+ "Place the red block onto the blue pad using the right arm.",
50
+ "Lift the red block with your left arm.",
51
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
52
+ "Place the red block on the blue pad.",
53
+ "Set the red block on the blue pad gently.",
54
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
55
+ "Use your arms to shift the red block.",
56
+ "Lift the red block, hand it over, and place it properly.",
57
+ "Grab red block, pass to the right arm, then drop on blue pad.",
58
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
59
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
60
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
61
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
62
+ "Hand the red block to the right arm.",
63
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
64
+ "Hold the red block, transfer to the right arm, then set it down.",
65
+ "Use left arm to grab the block and hand it to the right.",
66
+ "Grip the red block with the left arm and transfer it.",
67
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
68
+ "Move the red block using the left arm.",
69
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
70
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
71
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
72
+ "Take the red block using the left arm and hand it over.",
73
+ "Take the red block, pass it to the right arm, then place it.",
74
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
75
+ "Hand over the red block to the right arm.",
76
+ "Grab the red block, transfer it, and set it on blue.",
77
+ "Pick the red block with the left arm and transfer to the right.",
78
+ "Pass the red block from the left to the right.",
79
+ "Move the red block from the left hand to the pad.",
80
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
81
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
82
+ "Lift, switch arms, and place the red block.",
83
+ "Pick the red block with the left hand and pass it.",
84
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
85
+ "Take the red block and move it to the pad.",
86
+ "Take the red block, pass it to the right arm, and drop it.",
87
+ "Grab the red block and transfer to the right.",
88
+ "Use the left arm to grab the red block.",
89
+ "Hold the red block with the left arm and place it on the pad.",
90
+ "Use left arm to grab the red block and place it on the pad.",
91
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
92
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
93
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
94
+ "Grab the red block, hand it to the right arm, then set it down.",
95
+ "Lift the block with the left arm, pass it to the right arm.",
96
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
97
+ "Pick up and handover the red block.",
98
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
99
+ "Place the red block onto the blue pad using the right arm.",
100
+ "Lift the red block with your left arm.",
101
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
102
+ "Place the red block on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Pick up the red block and switch arms.",
108
+ "Use the left arm to pick up the red block.",
109
+ "Pass the red block to the right arm and set it down.",
110
+ "Grab the red block using the left arm.",
111
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
112
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
113
+ "Grab the red block with the left arm.",
114
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Pick up the red block and switch arms.",
118
+ "Use the left arm to pick up the red block.",
119
+ "Pass the red block to the right arm and set it down.",
120
+ "Grab the red block using the left arm.",
121
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
122
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
123
+ "Grab the red block with the left arm.",
124
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Pick up the red block and switch arms.",
128
+ "Use the left arm to pick up the red block.",
129
+ "Pass the red block to the right arm and set it down.",
130
+ "Grab the red block using the left arm.",
131
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
132
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
133
+ "Grab the red block with the left arm.",
134
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Pick up the red block and switch arms.",
138
+ "Use the left arm to pick up the red block.",
139
+ "Pass the red block to the right arm and set it down.",
140
+ "Grab the red block using the left arm.",
141
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
142
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
143
+ "Grab the red block with the left arm.",
144
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Pick up the red block and switch arms.",
148
+ "Use the left arm to pick up the red block.",
149
+ "Pass the red block to the right arm and set it down.",
150
+ "Grab the red block using the left arm.",
151
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
152
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
153
+ "Grab the red block with the left arm.",
154
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Pick up the red block and switch arms.",
158
+ "Use the left arm to pick up the red block.",
159
+ "Pass the red block to the right arm and set it down.",
160
+ "Grab the red block using the left arm.",
161
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
162
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
163
+ "Grab the red block with the left arm.",
164
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Pick up the red block and switch arms.",
168
+ "Use the left arm to pick up the red block.",
169
+ "Pass the red block to the right arm and set it down.",
170
+ "Grab the red block using the left arm.",
171
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
172
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
173
+ "Grab the red block with the left arm.",
174
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Pick up the red block and switch arms.",
178
+ "Use the left arm to pick up the red block.",
179
+ "Pass the red block to the right arm and set it down.",
180
+ "Grab the red block using the left arm.",
181
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
182
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
183
+ "Grab the red block with the left arm.",
184
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Pick up the red block and switch arms.",
188
+ "Use the left arm to pick up the red block.",
189
+ "Pass the red block to the right arm and set it down.",
190
+ "Grab the red block using the left arm.",
191
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
192
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
193
+ "Grab the red block with the left arm.",
194
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Pick up the red block and switch arms.",
198
+ "Use the left arm to pick up the red block.",
199
+ "Pass the red block to the right arm and set it down.",
200
+ "Grab the red block using the left arm.",
201
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
202
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
203
+ "Grab the red block with the left arm.",
204
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode183.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
4
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
5
+ "Pick the red block with the left hand and pass it.",
6
+ "Hand the red block to the right arm.",
7
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
8
+ "Pick up and handover the red block.",
9
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
10
+ "Place the red block on the blue pad.",
11
+ "Set the red block on the blue pad gently.",
12
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
13
+ "Grip the red block with the left arm and transfer it.",
14
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
15
+ "Take the red block and move it to the pad.",
16
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
17
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
18
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
19
+ "Use left arm to grab the red block and place it on the pad.",
20
+ "Move the red block from the left hand to the pad.",
21
+ "Hold the red block, transfer to the right arm, then set it down.",
22
+ "Grab the red block, hand it to the right arm, then set it down.",
23
+ "Pick the red block with the left arm and transfer to the right.",
24
+ "Grab the red block and transfer to the right.",
25
+ "Pass the red block from the left to the right.",
26
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
27
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
28
+ "Hold the red block with the left arm and place it on the pad.",
29
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
30
+ "Hand over the red block to the right arm.",
31
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
32
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
33
+ "Lift, switch arms, and place the red block.",
34
+ "Move the red block using the left arm.",
35
+ "Place the red block onto the blue pad using the right arm.",
36
+ "Take the red block using the left arm and hand it over.",
37
+ "Take the red block, pass it to the right arm, then place it.",
38
+ "Grab red block, pass to the right arm, then drop on blue pad.",
39
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
40
+ "Grab the red block, transfer it, and set it on blue.",
41
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
42
+ "Use your arms to shift the red block.",
43
+ "Take the red block, pass it to the right arm, and drop it.",
44
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
45
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
46
+ "Use left arm to grab the block and hand it to the right.",
47
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
48
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
49
+ "Use the left arm to grab the red block.",
50
+ "Lift the red block with your left arm.",
51
+ "Lift the block with the left arm, pass it to the right arm.",
52
+ "Lift the red block, hand it over, and place it properly.",
53
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
54
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
55
+ "Pick the red block with the left hand and pass it.",
56
+ "Hand the red block to the right arm.",
57
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
58
+ "Pick up and handover the red block.",
59
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
60
+ "Place the red block on the blue pad.",
61
+ "Set the red block on the blue pad gently.",
62
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
63
+ "Grip the red block with the left arm and transfer it.",
64
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
65
+ "Take the red block and move it to the pad.",
66
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
67
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
68
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
69
+ "Use left arm to grab the red block and place it on the pad.",
70
+ "Move the red block from the left hand to the pad.",
71
+ "Hold the red block, transfer to the right arm, then set it down.",
72
+ "Grab the red block, hand it to the right arm, then set it down.",
73
+ "Pick the red block with the left arm and transfer to the right.",
74
+ "Grab the red block and transfer to the right.",
75
+ "Pass the red block from the left to the right.",
76
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
77
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
78
+ "Hold the red block with the left arm and place it on the pad.",
79
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
80
+ "Hand over the red block to the right arm.",
81
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
82
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
83
+ "Lift, switch arms, and place the red block.",
84
+ "Move the red block using the left arm.",
85
+ "Place the red block onto the blue pad using the right arm.",
86
+ "Take the red block using the left arm and hand it over.",
87
+ "Take the red block, pass it to the right arm, then place it.",
88
+ "Grab red block, pass to the right arm, then drop on blue pad.",
89
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
90
+ "Grab the red block, transfer it, and set it on blue.",
91
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
92
+ "Use your arms to shift the red block.",
93
+ "Take the red block, pass it to the right arm, and drop it.",
94
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
95
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
96
+ "Use left arm to grab the block and hand it to the right.",
97
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
98
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
99
+ "Use the left arm to grab the red block.",
100
+ "Lift the red block with your left arm.",
101
+ "Lift the block with the left arm, pass it to the right arm.",
102
+ "Lift the red block, hand it over, and place it properly."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Grab the red block with the left arm.",
108
+ "Pass the red block to the right arm and set it down.",
109
+ "Pick up the red block and switch arms.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Grab the red block using the left arm.",
112
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
113
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
114
+ "Use the left arm to pick up the red block.",
115
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Grab the red block with the left arm.",
118
+ "Pass the red block to the right arm and set it down.",
119
+ "Pick up the red block and switch arms.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Grab the red block using the left arm.",
122
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
123
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
124
+ "Use the left arm to pick up the red block.",
125
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Grab the red block with the left arm.",
128
+ "Pass the red block to the right arm and set it down.",
129
+ "Pick up the red block and switch arms.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Grab the red block using the left arm.",
132
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
133
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
134
+ "Use the left arm to pick up the red block.",
135
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Grab the red block with the left arm.",
138
+ "Pass the red block to the right arm and set it down.",
139
+ "Pick up the red block and switch arms.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Grab the red block using the left arm.",
142
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
143
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
144
+ "Use the left arm to pick up the red block.",
145
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Grab the red block with the left arm.",
148
+ "Pass the red block to the right arm and set it down.",
149
+ "Pick up the red block and switch arms.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Grab the red block using the left arm.",
152
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
153
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
154
+ "Use the left arm to pick up the red block.",
155
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Grab the red block with the left arm.",
158
+ "Pass the red block to the right arm and set it down.",
159
+ "Pick up the red block and switch arms.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Grab the red block using the left arm.",
162
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
163
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
164
+ "Use the left arm to pick up the red block.",
165
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Grab the red block with the left arm.",
168
+ "Pass the red block to the right arm and set it down.",
169
+ "Pick up the red block and switch arms.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Grab the red block using the left arm.",
172
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
173
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
174
+ "Use the left arm to pick up the red block.",
175
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Grab the red block with the left arm.",
178
+ "Pass the red block to the right arm and set it down.",
179
+ "Pick up the red block and switch arms.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Grab the red block using the left arm.",
182
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
183
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
184
+ "Use the left arm to pick up the red block.",
185
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Grab the red block with the left arm.",
188
+ "Pass the red block to the right arm and set it down.",
189
+ "Pick up the red block and switch arms.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Grab the red block using the left arm.",
192
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
193
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
194
+ "Use the left arm to pick up the red block.",
195
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Grab the red block with the left arm.",
198
+ "Pass the red block to the right arm and set it down.",
199
+ "Pick up the red block and switch arms.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Grab the red block using the left arm.",
202
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
203
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
204
+ "Use the left arm to pick up the red block."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode195.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
4
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
5
+ "Hold the red block with the left arm and place it on the pad.",
6
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
7
+ "Hand over the red block to the right arm.",
8
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
9
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
10
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
11
+ "Move the red block using the left arm.",
12
+ "Set the red block on the blue pad gently.",
13
+ "Lift, switch arms, and place the red block.",
14
+ "Grip the red block with the left arm and transfer it.",
15
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
16
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
17
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
18
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
19
+ "Grab the red block and transfer to the right.",
20
+ "Use left arm to grab the red block and place it on the pad.",
21
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
22
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
23
+ "Grab red block, pass to the right arm, then drop on blue pad.",
24
+ "Pass the red block from the left to the right.",
25
+ "Grab the red block, transfer it, and set it on blue.",
26
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
27
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
28
+ "Place the red block on the blue pad.",
29
+ "Pick the red block with the left hand and pass it.",
30
+ "Pick up and handover the red block.",
31
+ "Take the red block and move it to the pad.",
32
+ "Use your arms to shift the red block.",
33
+ "Use left arm to grab the block and hand it to the right.",
34
+ "Move the red block from the left hand to the pad.",
35
+ "Grab the red block, hand it to the right arm, then set it down.",
36
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
37
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
38
+ "Take the red block, pass it to the right arm, and drop it.",
39
+ "Lift the red block with your left arm.",
40
+ "Lift the block with the left arm, pass it to the right arm.",
41
+ "Use the left arm to grab the red block.",
42
+ "Take the red block using the left arm and hand it over.",
43
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
44
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
45
+ "Hand the red block to the right arm.",
46
+ "Pick the red block with the left arm and transfer to the right.",
47
+ "Place the red block onto the blue pad using the right arm.",
48
+ "Lift the red block, hand it over, and place it properly.",
49
+ "Hold the red block, transfer to the right arm, then set it down.",
50
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
51
+ "Take the red block, pass it to the right arm, then place it.",
52
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
53
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
54
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
55
+ "Hold the red block with the left arm and place it on the pad.",
56
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
57
+ "Hand over the red block to the right arm.",
58
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
59
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
60
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
61
+ "Move the red block using the left arm.",
62
+ "Set the red block on the blue pad gently.",
63
+ "Lift, switch arms, and place the red block.",
64
+ "Grip the red block with the left arm and transfer it.",
65
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
66
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
67
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
68
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
69
+ "Grab the red block and transfer to the right.",
70
+ "Use left arm to grab the red block and place it on the pad.",
71
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
72
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
73
+ "Grab red block, pass to the right arm, then drop on blue pad.",
74
+ "Pass the red block from the left to the right.",
75
+ "Grab the red block, transfer it, and set it on blue.",
76
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
77
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
78
+ "Place the red block on the blue pad.",
79
+ "Pick the red block with the left hand and pass it.",
80
+ "Pick up and handover the red block.",
81
+ "Take the red block and move it to the pad.",
82
+ "Use your arms to shift the red block.",
83
+ "Use left arm to grab the block and hand it to the right.",
84
+ "Move the red block from the left hand to the pad.",
85
+ "Grab the red block, hand it to the right arm, then set it down.",
86
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
87
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
88
+ "Take the red block, pass it to the right arm, and drop it.",
89
+ "Lift the red block with your left arm.",
90
+ "Lift the block with the left arm, pass it to the right arm.",
91
+ "Use the left arm to grab the red block.",
92
+ "Take the red block using the left arm and hand it over.",
93
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
94
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
95
+ "Hand the red block to the right arm.",
96
+ "Pick the red block with the left arm and transfer to the right.",
97
+ "Place the red block onto the blue pad using the right arm.",
98
+ "Lift the red block, hand it over, and place it properly.",
99
+ "Hold the red block, transfer to the right arm, then set it down.",
100
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
101
+ "Take the red block, pass it to the right arm, then place it.",
102
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
106
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block with the left arm.",
109
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
110
+ "Pick up the red block and switch arms.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Pass the red block to the right arm and set it down.",
113
+ "Grab the red block using the left arm.",
114
+ "Grab the red block with the left arm.",
115
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
116
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block with the left arm.",
119
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
120
+ "Pick up the red block and switch arms.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Pass the red block to the right arm and set it down.",
123
+ "Grab the red block using the left arm.",
124
+ "Grab the red block with the left arm.",
125
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
126
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block with the left arm.",
129
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
130
+ "Pick up the red block and switch arms.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Pass the red block to the right arm and set it down.",
133
+ "Grab the red block using the left arm.",
134
+ "Grab the red block with the left arm.",
135
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
136
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block with the left arm.",
139
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
140
+ "Pick up the red block and switch arms.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Pass the red block to the right arm and set it down.",
143
+ "Grab the red block using the left arm.",
144
+ "Grab the red block with the left arm.",
145
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
146
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block with the left arm.",
149
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
150
+ "Pick up the red block and switch arms.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Pass the red block to the right arm and set it down.",
153
+ "Grab the red block using the left arm.",
154
+ "Grab the red block with the left arm.",
155
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
156
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block with the left arm.",
159
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
160
+ "Pick up the red block and switch arms.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Pass the red block to the right arm and set it down.",
163
+ "Grab the red block using the left arm.",
164
+ "Grab the red block with the left arm.",
165
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
166
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block with the left arm.",
169
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
170
+ "Pick up the red block and switch arms.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Pass the red block to the right arm and set it down.",
173
+ "Grab the red block using the left arm.",
174
+ "Grab the red block with the left arm.",
175
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
176
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block with the left arm.",
179
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
180
+ "Pick up the red block and switch arms.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Pass the red block to the right arm and set it down.",
183
+ "Grab the red block using the left arm.",
184
+ "Grab the red block with the left arm.",
185
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
186
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block with the left arm.",
189
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
190
+ "Pick up the red block and switch arms.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Pass the red block to the right arm and set it down.",
193
+ "Grab the red block using the left arm.",
194
+ "Grab the red block with the left arm.",
195
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
196
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block with the left arm.",
199
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
200
+ "Pick up the red block and switch arms.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Pass the red block to the right arm and set it down.",
203
+ "Grab the red block using the left arm.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode225.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block and move it to the pad.",
4
+ "Take the red block, pass it to the right arm, and drop it.",
5
+ "Pick up and handover the red block.",
6
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
7
+ "Use your arms to shift the red block.",
8
+ "Lift, switch arms, and place the red block.",
9
+ "Grab the red block, transfer it, and set it on blue.",
10
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
11
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
12
+ "Take the red block using the left arm and hand it over.",
13
+ "Pass the red block from the left to the right.",
14
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
15
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
16
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
17
+ "Lift the block with the left arm, pass it to the right arm.",
18
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
19
+ "Grip the red block with the left arm and transfer it.",
20
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
21
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
22
+ "Grab the red block and transfer to the right.",
23
+ "Grab the red block, hand it to the right arm, then set it down.",
24
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
25
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
26
+ "Hand the red block to the right arm.",
27
+ "Set the red block on the blue pad gently.",
28
+ "Hold the red block, transfer to the right arm, then set it down.",
29
+ "Lift the red block, hand it over, and place it properly.",
30
+ "Use left arm to grab the block and hand it to the right.",
31
+ "Pick the red block with the left hand and pass it.",
32
+ "Use the left arm to grab the red block.",
33
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
34
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
35
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
36
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
37
+ "Hand over the red block to the right arm.",
38
+ "Place the red block on the blue pad.",
39
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
40
+ "Move the red block from the left hand to the pad.",
41
+ "Use left arm to grab the red block and place it on the pad.",
42
+ "Grab red block, pass to the right arm, then drop on blue pad.",
43
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
44
+ "Hold the red block with the left arm and place it on the pad.",
45
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
46
+ "Pick the red block with the left arm and transfer to the right.",
47
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
48
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
49
+ "Move the red block using the left arm.",
50
+ "Place the red block onto the blue pad using the right arm.",
51
+ "Take the red block, pass it to the right arm, then place it.",
52
+ "Lift the red block with your left arm.",
53
+ "Take the red block and move it to the pad.",
54
+ "Take the red block, pass it to the right arm, and drop it.",
55
+ "Pick up and handover the red block.",
56
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
57
+ "Use your arms to shift the red block.",
58
+ "Lift, switch arms, and place the red block.",
59
+ "Grab the red block, transfer it, and set it on blue.",
60
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
61
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
62
+ "Take the red block using the left arm and hand it over.",
63
+ "Pass the red block from the left to the right.",
64
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
65
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
66
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
67
+ "Lift the block with the left arm, pass it to the right arm.",
68
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
69
+ "Grip the red block with the left arm and transfer it.",
70
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
71
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
72
+ "Grab the red block and transfer to the right.",
73
+ "Grab the red block, hand it to the right arm, then set it down.",
74
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
75
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
76
+ "Hand the red block to the right arm.",
77
+ "Set the red block on the blue pad gently.",
78
+ "Hold the red block, transfer to the right arm, then set it down.",
79
+ "Lift the red block, hand it over, and place it properly.",
80
+ "Use left arm to grab the block and hand it to the right.",
81
+ "Pick the red block with the left hand and pass it.",
82
+ "Use the left arm to grab the red block.",
83
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
84
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
85
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
86
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
87
+ "Hand over the red block to the right arm.",
88
+ "Place the red block on the blue pad.",
89
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
90
+ "Move the red block from the left hand to the pad.",
91
+ "Use left arm to grab the red block and place it on the pad.",
92
+ "Grab red block, pass to the right arm, then drop on blue pad.",
93
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
94
+ "Hold the red block with the left arm and place it on the pad.",
95
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
96
+ "Pick the red block with the left arm and transfer to the right.",
97
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
98
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
99
+ "Move the red block using the left arm.",
100
+ "Place the red block onto the blue pad using the right arm.",
101
+ "Take the red block, pass it to the right arm, then place it.",
102
+ "Lift the red block with your left arm."
103
+ ],
104
+ "unseen": [
105
+ "Pass the red block to the right arm and set it down.",
106
+ "Use the left arm to pick up the red block.",
107
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm.",
109
+ "Pick up the red block and switch arms.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block using the left arm.",
114
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
115
+ "Pass the red block to the right arm and set it down.",
116
+ "Use the left arm to pick up the red block.",
117
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm.",
119
+ "Pick up the red block and switch arms.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block using the left arm.",
124
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
125
+ "Pass the red block to the right arm and set it down.",
126
+ "Use the left arm to pick up the red block.",
127
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm.",
129
+ "Pick up the red block and switch arms.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block using the left arm.",
134
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
135
+ "Pass the red block to the right arm and set it down.",
136
+ "Use the left arm to pick up the red block.",
137
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm.",
139
+ "Pick up the red block and switch arms.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block using the left arm.",
144
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
145
+ "Pass the red block to the right arm and set it down.",
146
+ "Use the left arm to pick up the red block.",
147
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm.",
149
+ "Pick up the red block and switch arms.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block using the left arm.",
154
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
155
+ "Pass the red block to the right arm and set it down.",
156
+ "Use the left arm to pick up the red block.",
157
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm.",
159
+ "Pick up the red block and switch arms.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block using the left arm.",
164
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
165
+ "Pass the red block to the right arm and set it down.",
166
+ "Use the left arm to pick up the red block.",
167
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm.",
169
+ "Pick up the red block and switch arms.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block using the left arm.",
174
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
175
+ "Pass the red block to the right arm and set it down.",
176
+ "Use the left arm to pick up the red block.",
177
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm.",
179
+ "Pick up the red block and switch arms.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block using the left arm.",
184
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
185
+ "Pass the red block to the right arm and set it down.",
186
+ "Use the left arm to pick up the red block.",
187
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm.",
189
+ "Pick up the red block and switch arms.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block using the left arm.",
194
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
195
+ "Pass the red block to the right arm and set it down.",
196
+ "Use the left arm to pick up the red block.",
197
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm.",
199
+ "Pick up the red block and switch arms.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block using the left arm.",
204
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode231.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
4
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
5
+ "Pick up and handover the red block.",
6
+ "Take the red block, pass it to the right arm, and drop it.",
7
+ "Place the red block onto the blue pad using the right arm.",
8
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
9
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
10
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
11
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
12
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
13
+ "Move the red block from the left hand to the pad.",
14
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
15
+ "Hold the red block with the left arm and place it on the pad.",
16
+ "Use your arms to shift the red block.",
17
+ "Lift, switch arms, and place the red block.",
18
+ "Grab the red block, transfer it, and set it on blue.",
19
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
20
+ "Lift the block with the left arm, pass it to the right arm.",
21
+ "Hand over the red block to the right arm.",
22
+ "Move the red block using the left arm.",
23
+ "Grip the red block with the left arm and transfer it.",
24
+ "Take the red block using the left arm and hand it over.",
25
+ "Place the red block on the blue pad.",
26
+ "Lift the red block with your left arm.",
27
+ "Pick the red block with the left arm and transfer to the right.",
28
+ "Take the red block and move it to the pad.",
29
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
30
+ "Set the red block on the blue pad gently.",
31
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
32
+ "Use left arm to grab the block and hand it to the right.",
33
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
34
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
35
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
36
+ "Hold the red block, transfer to the right arm, then set it down.",
37
+ "Use left arm to grab the red block and place it on the pad.",
38
+ "Grab the red block, hand it to the right arm, then set it down.",
39
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
40
+ "Grab the red block and transfer to the right.",
41
+ "Hand the red block to the right arm.",
42
+ "Lift the red block, hand it over, and place it properly.",
43
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
44
+ "Pick the red block with the left hand and pass it.",
45
+ "Grab red block, pass to the right arm, then drop on blue pad.",
46
+ "Take the red block, pass it to the right arm, then place it.",
47
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
48
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
49
+ "Use the left arm to grab the red block.",
50
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
51
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
52
+ "Pass the red block from the left to the right.",
53
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
54
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
55
+ "Pick up and handover the red block.",
56
+ "Take the red block, pass it to the right arm, and drop it.",
57
+ "Place the red block onto the blue pad using the right arm.",
58
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
59
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
60
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
61
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
62
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
63
+ "Move the red block from the left hand to the pad.",
64
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
65
+ "Hold the red block with the left arm and place it on the pad.",
66
+ "Use your arms to shift the red block.",
67
+ "Lift, switch arms, and place the red block.",
68
+ "Grab the red block, transfer it, and set it on blue.",
69
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
70
+ "Lift the block with the left arm, pass it to the right arm.",
71
+ "Hand over the red block to the right arm.",
72
+ "Move the red block using the left arm.",
73
+ "Grip the red block with the left arm and transfer it.",
74
+ "Take the red block using the left arm and hand it over.",
75
+ "Place the red block on the blue pad.",
76
+ "Lift the red block with your left arm.",
77
+ "Pick the red block with the left arm and transfer to the right.",
78
+ "Take the red block and move it to the pad.",
79
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
80
+ "Set the red block on the blue pad gently.",
81
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
82
+ "Use left arm to grab the block and hand it to the right.",
83
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
84
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
85
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
86
+ "Hold the red block, transfer to the right arm, then set it down.",
87
+ "Use left arm to grab the red block and place it on the pad.",
88
+ "Grab the red block, hand it to the right arm, then set it down.",
89
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
90
+ "Grab the red block and transfer to the right.",
91
+ "Hand the red block to the right arm.",
92
+ "Lift the red block, hand it over, and place it properly.",
93
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
94
+ "Pick the red block with the left hand and pass it.",
95
+ "Grab red block, pass to the right arm, then drop on blue pad.",
96
+ "Take the red block, pass it to the right arm, then place it.",
97
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
98
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
99
+ "Use the left arm to grab the red block.",
100
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
101
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
102
+ "Pass the red block from the left to the right."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Grab the red block with the left arm.",
107
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
109
+ "Grab the red block with the left arm.",
110
+ "Use the left arm to pick up the red block.",
111
+ "Pick up the red block and switch arms.",
112
+ "Pass the red block to the right arm and set it down.",
113
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
114
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
115
+ "Grab the red block using the left arm.",
116
+ "Grab the red block with the left arm.",
117
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
119
+ "Grab the red block with the left arm.",
120
+ "Use the left arm to pick up the red block.",
121
+ "Pick up the red block and switch arms.",
122
+ "Pass the red block to the right arm and set it down.",
123
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
124
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
125
+ "Grab the red block using the left arm.",
126
+ "Grab the red block with the left arm.",
127
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
129
+ "Grab the red block with the left arm.",
130
+ "Use the left arm to pick up the red block.",
131
+ "Pick up the red block and switch arms.",
132
+ "Pass the red block to the right arm and set it down.",
133
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
134
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
135
+ "Grab the red block using the left arm.",
136
+ "Grab the red block with the left arm.",
137
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
139
+ "Grab the red block with the left arm.",
140
+ "Use the left arm to pick up the red block.",
141
+ "Pick up the red block and switch arms.",
142
+ "Pass the red block to the right arm and set it down.",
143
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
144
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
145
+ "Grab the red block using the left arm.",
146
+ "Grab the red block with the left arm.",
147
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
149
+ "Grab the red block with the left arm.",
150
+ "Use the left arm to pick up the red block.",
151
+ "Pick up the red block and switch arms.",
152
+ "Pass the red block to the right arm and set it down.",
153
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
154
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
155
+ "Grab the red block using the left arm.",
156
+ "Grab the red block with the left arm.",
157
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
159
+ "Grab the red block with the left arm.",
160
+ "Use the left arm to pick up the red block.",
161
+ "Pick up the red block and switch arms.",
162
+ "Pass the red block to the right arm and set it down.",
163
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
164
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
165
+ "Grab the red block using the left arm.",
166
+ "Grab the red block with the left arm.",
167
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
169
+ "Grab the red block with the left arm.",
170
+ "Use the left arm to pick up the red block.",
171
+ "Pick up the red block and switch arms.",
172
+ "Pass the red block to the right arm and set it down.",
173
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
174
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
175
+ "Grab the red block using the left arm.",
176
+ "Grab the red block with the left arm.",
177
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
179
+ "Grab the red block with the left arm.",
180
+ "Use the left arm to pick up the red block.",
181
+ "Pick up the red block and switch arms.",
182
+ "Pass the red block to the right arm and set it down.",
183
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
184
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
185
+ "Grab the red block using the left arm.",
186
+ "Grab the red block with the left arm.",
187
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
189
+ "Grab the red block with the left arm.",
190
+ "Use the left arm to pick up the red block.",
191
+ "Pick up the red block and switch arms.",
192
+ "Pass the red block to the right arm and set it down.",
193
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
194
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
195
+ "Grab the red block using the left arm.",
196
+ "Grab the red block with the left arm.",
197
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
199
+ "Grab the red block with the left arm.",
200
+ "Use the left arm to pick up the red block.",
201
+ "Pick up the red block and switch arms.",
202
+ "Pass the red block to the right arm and set it down.",
203
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
204
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode233.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
4
+ "Hold the red block with the left arm and place it on the pad.",
5
+ "Grip the red block with the left arm and transfer it.",
6
+ "Pick up and handover the red block.",
7
+ "Hand over the red block to the right arm.",
8
+ "Take the red block, pass it to the right arm, and drop it.",
9
+ "Set the red block on the blue pad gently.",
10
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
11
+ "Lift the block with the left arm, pass it to the right arm.",
12
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
13
+ "Use your arms to shift the red block.",
14
+ "Take the red block and move it to the pad.",
15
+ "Hand the red block to the right arm.",
16
+ "Grab the red block, transfer it, and set it on blue.",
17
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
18
+ "Pass the red block from the left to the right.",
19
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
20
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
21
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
22
+ "Take the red block, pass it to the right arm, then place it.",
23
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
24
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
25
+ "Move the red block from the left hand to the pad.",
26
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
27
+ "Lift the red block, hand it over, and place it properly.",
28
+ "Use left arm to grab the red block and place it on the pad.",
29
+ "Grab red block, pass to the right arm, then drop on blue pad.",
30
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
31
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
32
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
33
+ "Grab the red block and transfer to the right.",
34
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
35
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
36
+ "Lift the red block with your left arm.",
37
+ "Grab the red block, hand it to the right arm, then set it down.",
38
+ "Pick the red block with the left arm and transfer to the right.",
39
+ "Use the left arm to grab the red block.",
40
+ "Lift, switch arms, and place the red block.",
41
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
42
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
43
+ "Place the red block onto the blue pad using the right arm.",
44
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
45
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
46
+ "Use left arm to grab the block and hand it to the right.",
47
+ "Hold the red block, transfer to the right arm, then set it down.",
48
+ "Move the red block using the left arm.",
49
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
50
+ "Place the red block on the blue pad.",
51
+ "Pick the red block with the left hand and pass it.",
52
+ "Take the red block using the left arm and hand it over.",
53
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
54
+ "Hold the red block with the left arm and place it on the pad.",
55
+ "Grip the red block with the left arm and transfer it.",
56
+ "Pick up and handover the red block.",
57
+ "Hand over the red block to the right arm.",
58
+ "Take the red block, pass it to the right arm, and drop it.",
59
+ "Set the red block on the blue pad gently.",
60
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
61
+ "Lift the block with the left arm, pass it to the right arm.",
62
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
63
+ "Use your arms to shift the red block.",
64
+ "Take the red block and move it to the pad.",
65
+ "Hand the red block to the right arm.",
66
+ "Grab the red block, transfer it, and set it on blue.",
67
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
68
+ "Pass the red block from the left to the right.",
69
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
70
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
71
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
72
+ "Take the red block, pass it to the right arm, then place it.",
73
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
74
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
75
+ "Move the red block from the left hand to the pad.",
76
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
77
+ "Lift the red block, hand it over, and place it properly.",
78
+ "Use left arm to grab the red block and place it on the pad.",
79
+ "Grab red block, pass to the right arm, then drop on blue pad.",
80
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
81
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
82
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
83
+ "Grab the red block and transfer to the right.",
84
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
85
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
86
+ "Lift the red block with your left arm.",
87
+ "Grab the red block, hand it to the right arm, then set it down.",
88
+ "Pick the red block with the left arm and transfer to the right.",
89
+ "Use the left arm to grab the red block.",
90
+ "Lift, switch arms, and place the red block.",
91
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
92
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
93
+ "Place the red block onto the blue pad using the right arm.",
94
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
95
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
96
+ "Use left arm to grab the block and hand it to the right.",
97
+ "Hold the red block, transfer to the right arm, then set it down.",
98
+ "Move the red block using the left arm.",
99
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
100
+ "Place the red block on the blue pad.",
101
+ "Pick the red block with the left hand and pass it.",
102
+ "Take the red block using the left arm and hand it over."
103
+ ],
104
+ "unseen": [
105
+ "Pass the red block to the right arm and set it down.",
106
+ "Pick up the red block and switch arms.",
107
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm.",
109
+ "Use the left arm to pick up the red block.",
110
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
111
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block using the left arm.",
114
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
115
+ "Pass the red block to the right arm and set it down.",
116
+ "Pick up the red block and switch arms.",
117
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm.",
119
+ "Use the left arm to pick up the red block.",
120
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
121
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block using the left arm.",
124
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
125
+ "Pass the red block to the right arm and set it down.",
126
+ "Pick up the red block and switch arms.",
127
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm.",
129
+ "Use the left arm to pick up the red block.",
130
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
131
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block using the left arm.",
134
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
135
+ "Pass the red block to the right arm and set it down.",
136
+ "Pick up the red block and switch arms.",
137
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm.",
139
+ "Use the left arm to pick up the red block.",
140
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
141
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block using the left arm.",
144
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
145
+ "Pass the red block to the right arm and set it down.",
146
+ "Pick up the red block and switch arms.",
147
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm.",
149
+ "Use the left arm to pick up the red block.",
150
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
151
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block using the left arm.",
154
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
155
+ "Pass the red block to the right arm and set it down.",
156
+ "Pick up the red block and switch arms.",
157
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm.",
159
+ "Use the left arm to pick up the red block.",
160
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
161
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block using the left arm.",
164
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
165
+ "Pass the red block to the right arm and set it down.",
166
+ "Pick up the red block and switch arms.",
167
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm.",
169
+ "Use the left arm to pick up the red block.",
170
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
171
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block using the left arm.",
174
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
175
+ "Pass the red block to the right arm and set it down.",
176
+ "Pick up the red block and switch arms.",
177
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm.",
179
+ "Use the left arm to pick up the red block.",
180
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
181
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block using the left arm.",
184
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
185
+ "Pass the red block to the right arm and set it down.",
186
+ "Pick up the red block and switch arms.",
187
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm.",
189
+ "Use the left arm to pick up the red block.",
190
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
191
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block using the left arm.",
194
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
195
+ "Pass the red block to the right arm and set it down.",
196
+ "Pick up the red block and switch arms.",
197
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm.",
199
+ "Use the left arm to pick up the red block.",
200
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
201
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block using the left arm.",
204
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode247.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use your arms to shift the red block.",
4
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
5
+ "Place the red block on the blue pad.",
6
+ "Move the red block from the left hand to the pad.",
7
+ "Take the red block and move it to the pad.",
8
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
9
+ "Lift, switch arms, and place the red block.",
10
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
11
+ "Lift the red block with your left arm.",
12
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
13
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
14
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
15
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
16
+ "Hand the red block to the right arm.",
17
+ "Pick the red block with the left arm and transfer to the right.",
18
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
19
+ "Use the left arm to grab the red block.",
20
+ "Grab the red block, hand it to the right arm, then set it down.",
21
+ "Use left arm to grab the red block and place it on the pad.",
22
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
23
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
24
+ "Grab the red block and transfer to the right.",
25
+ "Grab red block, pass to the right arm, then drop on blue pad.",
26
+ "Take the red block, pass it to the right arm, and drop it.",
27
+ "Set the red block on the blue pad gently.",
28
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
29
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
30
+ "Place the red block onto the blue pad using the right arm.",
31
+ "Hand over the red block to the right arm.",
32
+ "Lift the red block, hand it over, and place it properly.",
33
+ "Grip the red block with the left arm and transfer it.",
34
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
35
+ "Hold the red block with the left arm and place it on the pad.",
36
+ "Pick the red block with the left hand and pass it.",
37
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
38
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
39
+ "Move the red block using the left arm.",
40
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
41
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
42
+ "Take the red block, pass it to the right arm, then place it.",
43
+ "Take the red block using the left arm and hand it over.",
44
+ "Lift the block with the left arm, pass it to the right arm.",
45
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
46
+ "Use left arm to grab the block and hand it to the right.",
47
+ "Pick up and handover the red block.",
48
+ "Pass the red block from the left to the right.",
49
+ "Grab the red block, transfer it, and set it on blue.",
50
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
51
+ "Hold the red block, transfer to the right arm, then set it down.",
52
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
53
+ "Use your arms to shift the red block.",
54
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
55
+ "Place the red block on the blue pad.",
56
+ "Move the red block from the left hand to the pad.",
57
+ "Take the red block and move it to the pad.",
58
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
59
+ "Lift, switch arms, and place the red block.",
60
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
61
+ "Lift the red block with your left arm.",
62
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
63
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
64
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
65
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
66
+ "Hand the red block to the right arm.",
67
+ "Pick the red block with the left arm and transfer to the right.",
68
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
69
+ "Use the left arm to grab the red block.",
70
+ "Grab the red block, hand it to the right arm, then set it down.",
71
+ "Use left arm to grab the red block and place it on the pad.",
72
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
73
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
74
+ "Grab the red block and transfer to the right.",
75
+ "Grab red block, pass to the right arm, then drop on blue pad.",
76
+ "Take the red block, pass it to the right arm, and drop it.",
77
+ "Set the red block on the blue pad gently.",
78
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
79
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
80
+ "Place the red block onto the blue pad using the right arm.",
81
+ "Hand over the red block to the right arm.",
82
+ "Lift the red block, hand it over, and place it properly.",
83
+ "Grip the red block with the left arm and transfer it.",
84
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
85
+ "Hold the red block with the left arm and place it on the pad.",
86
+ "Pick the red block with the left hand and pass it.",
87
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
88
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
89
+ "Move the red block using the left arm.",
90
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
91
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
92
+ "Take the red block, pass it to the right arm, then place it.",
93
+ "Take the red block using the left arm and hand it over.",
94
+ "Lift the block with the left arm, pass it to the right arm.",
95
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
96
+ "Use left arm to grab the block and hand it to the right.",
97
+ "Pick up and handover the red block.",
98
+ "Pass the red block from the left to the right.",
99
+ "Grab the red block, transfer it, and set it on blue.",
100
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
101
+ "Hold the red block, transfer to the right arm, then set it down.",
102
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Pass the red block to the right arm and set it down.",
106
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
107
+ "Grab the red block using the left arm.",
108
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
109
+ "Pick up the red block and switch arms.",
110
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
111
+ "Grab the red block with the left arm.",
112
+ "Grab the red block with the left arm.",
113
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
114
+ "Use the left arm to pick up the red block.",
115
+ "Pass the red block to the right arm and set it down.",
116
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
117
+ "Grab the red block using the left arm.",
118
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
119
+ "Pick up the red block and switch arms.",
120
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
121
+ "Grab the red block with the left arm.",
122
+ "Grab the red block with the left arm.",
123
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
124
+ "Use the left arm to pick up the red block.",
125
+ "Pass the red block to the right arm and set it down.",
126
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
127
+ "Grab the red block using the left arm.",
128
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
129
+ "Pick up the red block and switch arms.",
130
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
131
+ "Grab the red block with the left arm.",
132
+ "Grab the red block with the left arm.",
133
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
134
+ "Use the left arm to pick up the red block.",
135
+ "Pass the red block to the right arm and set it down.",
136
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
137
+ "Grab the red block using the left arm.",
138
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
139
+ "Pick up the red block and switch arms.",
140
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
141
+ "Grab the red block with the left arm.",
142
+ "Grab the red block with the left arm.",
143
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
144
+ "Use the left arm to pick up the red block.",
145
+ "Pass the red block to the right arm and set it down.",
146
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
147
+ "Grab the red block using the left arm.",
148
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
149
+ "Pick up the red block and switch arms.",
150
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
151
+ "Grab the red block with the left arm.",
152
+ "Grab the red block with the left arm.",
153
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
154
+ "Use the left arm to pick up the red block.",
155
+ "Pass the red block to the right arm and set it down.",
156
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
157
+ "Grab the red block using the left arm.",
158
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
159
+ "Pick up the red block and switch arms.",
160
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
161
+ "Grab the red block with the left arm.",
162
+ "Grab the red block with the left arm.",
163
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
164
+ "Use the left arm to pick up the red block.",
165
+ "Pass the red block to the right arm and set it down.",
166
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
167
+ "Grab the red block using the left arm.",
168
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
169
+ "Pick up the red block and switch arms.",
170
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
171
+ "Grab the red block with the left arm.",
172
+ "Grab the red block with the left arm.",
173
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
174
+ "Use the left arm to pick up the red block.",
175
+ "Pass the red block to the right arm and set it down.",
176
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
177
+ "Grab the red block using the left arm.",
178
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
179
+ "Pick up the red block and switch arms.",
180
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
181
+ "Grab the red block with the left arm.",
182
+ "Grab the red block with the left arm.",
183
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
184
+ "Use the left arm to pick up the red block.",
185
+ "Pass the red block to the right arm and set it down.",
186
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
187
+ "Grab the red block using the left arm.",
188
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
189
+ "Pick up the red block and switch arms.",
190
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
191
+ "Grab the red block with the left arm.",
192
+ "Grab the red block with the left arm.",
193
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
194
+ "Use the left arm to pick up the red block.",
195
+ "Pass the red block to the right arm and set it down.",
196
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
197
+ "Grab the red block using the left arm.",
198
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
199
+ "Pick up the red block and switch arms.",
200
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
201
+ "Grab the red block with the left arm.",
202
+ "Grab the red block with the left arm.",
203
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
204
+ "Use the left arm to pick up the red block."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode266.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
4
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
5
+ "Take the red block, pass it to the right arm, then place it.",
6
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
7
+ "Use your arms to shift the red block.",
8
+ "Lift the red block, hand it over, and place it properly.",
9
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
10
+ "Hand the red block to the right arm.",
11
+ "Use left arm to grab the block and hand it to the right.",
12
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
13
+ "Lift the red block with your left arm.",
14
+ "Pick up and handover the red block.",
15
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
16
+ "Pick the red block with the left hand and pass it.",
17
+ "Place the red block on the blue pad.",
18
+ "Set the red block on the blue pad gently.",
19
+ "Pick the red block with the left arm and transfer to the right.",
20
+ "Grab the red block and transfer to the right.",
21
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
22
+ "Place the red block onto the blue pad using the right arm.",
23
+ "Use the left arm to grab the red block.",
24
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
25
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
26
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
27
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
28
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
29
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
30
+ "Hand over the red block to the right arm.",
31
+ "Grip the red block with the left arm and transfer it.",
32
+ "Use left arm to grab the red block and place it on the pad.",
33
+ "Move the red block using the left arm.",
34
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
35
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
36
+ "Hold the red block, transfer to the right arm, then set it down.",
37
+ "Hold the red block with the left arm and place it on the pad.",
38
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
39
+ "Take the red block using the left arm and hand it over.",
40
+ "Lift the block with the left arm, pass it to the right arm.",
41
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
42
+ "Take the red block, pass it to the right arm, and drop it.",
43
+ "Lift, switch arms, and place the red block.",
44
+ "Grab the red block, hand it to the right arm, then set it down.",
45
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
46
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
47
+ "Grab red block, pass to the right arm, then drop on blue pad.",
48
+ "Take the red block and move it to the pad.",
49
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
50
+ "Move the red block from the left hand to the pad.",
51
+ "Pass the red block from the left to the right.",
52
+ "Grab the red block, transfer it, and set it on blue.",
53
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
54
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
55
+ "Take the red block, pass it to the right arm, then place it.",
56
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
57
+ "Use your arms to shift the red block.",
58
+ "Lift the red block, hand it over, and place it properly.",
59
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
60
+ "Hand the red block to the right arm.",
61
+ "Use left arm to grab the block and hand it to the right.",
62
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
63
+ "Lift the red block with your left arm.",
64
+ "Pick up and handover the red block.",
65
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
66
+ "Pick the red block with the left hand and pass it.",
67
+ "Place the red block on the blue pad.",
68
+ "Set the red block on the blue pad gently.",
69
+ "Pick the red block with the left arm and transfer to the right.",
70
+ "Grab the red block and transfer to the right.",
71
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
72
+ "Place the red block onto the blue pad using the right arm.",
73
+ "Use the left arm to grab the red block.",
74
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
75
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
76
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
77
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
78
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
79
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
80
+ "Hand over the red block to the right arm.",
81
+ "Grip the red block with the left arm and transfer it.",
82
+ "Use left arm to grab the red block and place it on the pad.",
83
+ "Move the red block using the left arm.",
84
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
85
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
86
+ "Hold the red block, transfer to the right arm, then set it down.",
87
+ "Hold the red block with the left arm and place it on the pad.",
88
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
89
+ "Take the red block using the left arm and hand it over.",
90
+ "Lift the block with the left arm, pass it to the right arm.",
91
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
92
+ "Take the red block, pass it to the right arm, and drop it.",
93
+ "Lift, switch arms, and place the red block.",
94
+ "Grab the red block, hand it to the right arm, then set it down.",
95
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
96
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
97
+ "Grab red block, pass to the right arm, then drop on blue pad.",
98
+ "Take the red block and move it to the pad.",
99
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
100
+ "Move the red block from the left hand to the pad.",
101
+ "Pass the red block from the left to the right.",
102
+ "Grab the red block, transfer it, and set it on blue."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm.",
106
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block using the left arm.",
109
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
110
+ "Grab the red block with the left arm.",
111
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Pass the red block to the right arm and set it down.",
114
+ "Pick up the red block and switch arms.",
115
+ "Grab the red block with the left arm.",
116
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block using the left arm.",
119
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
120
+ "Grab the red block with the left arm.",
121
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Pass the red block to the right arm and set it down.",
124
+ "Pick up the red block and switch arms.",
125
+ "Grab the red block with the left arm.",
126
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block using the left arm.",
129
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
130
+ "Grab the red block with the left arm.",
131
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Pass the red block to the right arm and set it down.",
134
+ "Pick up the red block and switch arms.",
135
+ "Grab the red block with the left arm.",
136
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block using the left arm.",
139
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
140
+ "Grab the red block with the left arm.",
141
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Pass the red block to the right arm and set it down.",
144
+ "Pick up the red block and switch arms.",
145
+ "Grab the red block with the left arm.",
146
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block using the left arm.",
149
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
150
+ "Grab the red block with the left arm.",
151
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Pass the red block to the right arm and set it down.",
154
+ "Pick up the red block and switch arms.",
155
+ "Grab the red block with the left arm.",
156
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block using the left arm.",
159
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
160
+ "Grab the red block with the left arm.",
161
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Pass the red block to the right arm and set it down.",
164
+ "Pick up the red block and switch arms.",
165
+ "Grab the red block with the left arm.",
166
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block using the left arm.",
169
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
170
+ "Grab the red block with the left arm.",
171
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Pass the red block to the right arm and set it down.",
174
+ "Pick up the red block and switch arms.",
175
+ "Grab the red block with the left arm.",
176
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block using the left arm.",
179
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
180
+ "Grab the red block with the left arm.",
181
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Pass the red block to the right arm and set it down.",
184
+ "Pick up the red block and switch arms.",
185
+ "Grab the red block with the left arm.",
186
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block using the left arm.",
189
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
190
+ "Grab the red block with the left arm.",
191
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Pass the red block to the right arm and set it down.",
194
+ "Pick up the red block and switch arms.",
195
+ "Grab the red block with the left arm.",
196
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block using the left arm.",
199
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
200
+ "Grab the red block with the left arm.",
201
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Pass the red block to the right arm and set it down.",
204
+ "Pick up the red block and switch arms."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode280.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
4
+ "Pick the red block with the left arm and transfer to the right.",
5
+ "Lift, switch arms, and place the red block.",
6
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
7
+ "Use left arm to grab the red block and place it on the pad.",
8
+ "Take the red block using the left arm and hand it over.",
9
+ "Place the red block on the blue pad.",
10
+ "Hand over the red block to the right arm.",
11
+ "Grab red block, pass to the right arm, then drop on blue pad.",
12
+ "Grab the red block, hand it to the right arm, then set it down.",
13
+ "Lift the block with the left arm, pass it to the right arm.",
14
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
15
+ "Take the red block and move it to the pad.",
16
+ "Lift the red block, hand it over, and place it properly.",
17
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
18
+ "Place the red block onto the blue pad using the right arm.",
19
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
20
+ "Pick up and handover the red block.",
21
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
22
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
23
+ "Set the red block on the blue pad gently.",
24
+ "Pass the red block from the left to the right.",
25
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
26
+ "Grip the red block with the left arm and transfer it.",
27
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
28
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
29
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
30
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
31
+ "Pick the red block with the left hand and pass it.",
32
+ "Lift the red block with your left arm.",
33
+ "Hand the red block to the right arm.",
34
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
35
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
36
+ "Use left arm to grab the block and hand it to the right.",
37
+ "Take the red block, pass it to the right arm, then place it.",
38
+ "Move the red block using the left arm.",
39
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
40
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
41
+ "Move the red block from the left hand to the pad.",
42
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
43
+ "Grab the red block, transfer it, and set it on blue.",
44
+ "Hold the red block, transfer to the right arm, then set it down.",
45
+ "Take the red block, pass it to the right arm, and drop it.",
46
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
47
+ "Grab the red block and transfer to the right.",
48
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
49
+ "Use the left arm to grab the red block.",
50
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
51
+ "Use your arms to shift the red block.",
52
+ "Hold the red block with the left arm and place it on the pad.",
53
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
54
+ "Pick the red block with the left arm and transfer to the right.",
55
+ "Lift, switch arms, and place the red block.",
56
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
57
+ "Use left arm to grab the red block and place it on the pad.",
58
+ "Take the red block using the left arm and hand it over.",
59
+ "Place the red block on the blue pad.",
60
+ "Hand over the red block to the right arm.",
61
+ "Grab red block, pass to the right arm, then drop on blue pad.",
62
+ "Grab the red block, hand it to the right arm, then set it down.",
63
+ "Lift the block with the left arm, pass it to the right arm.",
64
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
65
+ "Take the red block and move it to the pad.",
66
+ "Lift the red block, hand it over, and place it properly.",
67
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
68
+ "Place the red block onto the blue pad using the right arm.",
69
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
70
+ "Pick up and handover the red block.",
71
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
72
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
73
+ "Set the red block on the blue pad gently.",
74
+ "Pass the red block from the left to the right.",
75
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
76
+ "Grip the red block with the left arm and transfer it.",
77
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
78
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
79
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
80
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
81
+ "Pick the red block with the left hand and pass it.",
82
+ "Lift the red block with your left arm.",
83
+ "Hand the red block to the right arm.",
84
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
85
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
86
+ "Use left arm to grab the block and hand it to the right.",
87
+ "Take the red block, pass it to the right arm, then place it.",
88
+ "Move the red block using the left arm.",
89
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
90
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
91
+ "Move the red block from the left hand to the pad.",
92
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
93
+ "Grab the red block, transfer it, and set it on blue.",
94
+ "Hold the red block, transfer to the right arm, then set it down.",
95
+ "Take the red block, pass it to the right arm, and drop it.",
96
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
97
+ "Grab the red block and transfer to the right.",
98
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
99
+ "Use the left arm to grab the red block.",
100
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
101
+ "Use your arms to shift the red block.",
102
+ "Hold the red block with the left arm and place it on the pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Pass the red block to the right arm and set it down.",
108
+ "Grab the red block using the left arm.",
109
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
110
+ "Pick up the red block and switch arms.",
111
+ "Use the left arm to pick up the red block.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
114
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
115
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Pass the red block to the right arm and set it down.",
118
+ "Grab the red block using the left arm.",
119
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
120
+ "Pick up the red block and switch arms.",
121
+ "Use the left arm to pick up the red block.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
124
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
125
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Pass the red block to the right arm and set it down.",
128
+ "Grab the red block using the left arm.",
129
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
130
+ "Pick up the red block and switch arms.",
131
+ "Use the left arm to pick up the red block.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
134
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
135
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Pass the red block to the right arm and set it down.",
138
+ "Grab the red block using the left arm.",
139
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
140
+ "Pick up the red block and switch arms.",
141
+ "Use the left arm to pick up the red block.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
144
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
145
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Pass the red block to the right arm and set it down.",
148
+ "Grab the red block using the left arm.",
149
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
150
+ "Pick up the red block and switch arms.",
151
+ "Use the left arm to pick up the red block.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
154
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
155
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Pass the red block to the right arm and set it down.",
158
+ "Grab the red block using the left arm.",
159
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
160
+ "Pick up the red block and switch arms.",
161
+ "Use the left arm to pick up the red block.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
164
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
165
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Pass the red block to the right arm and set it down.",
168
+ "Grab the red block using the left arm.",
169
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
170
+ "Pick up the red block and switch arms.",
171
+ "Use the left arm to pick up the red block.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
174
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
175
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Pass the red block to the right arm and set it down.",
178
+ "Grab the red block using the left arm.",
179
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
180
+ "Pick up the red block and switch arms.",
181
+ "Use the left arm to pick up the red block.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
184
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
185
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Pass the red block to the right arm and set it down.",
188
+ "Grab the red block using the left arm.",
189
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
190
+ "Pick up the red block and switch arms.",
191
+ "Use the left arm to pick up the red block.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
194
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
195
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Pass the red block to the right arm and set it down.",
198
+ "Grab the red block using the left arm.",
199
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
200
+ "Pick up the red block and switch arms.",
201
+ "Use the left arm to pick up the red block.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
204
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode281.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Pick the red block with the left arm and transfer to the right.",
4
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
5
+ "Take the red block, pass it to the right arm, then place it.",
6
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
7
+ "Pick the red block with the left hand and pass it.",
8
+ "Take the red block using the left arm and hand it over.",
9
+ "Lift, switch arms, and place the red block.",
10
+ "Grab the red block and transfer to the right.",
11
+ "Use the left arm to grab the red block.",
12
+ "Hand over the red block to the right arm.",
13
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
14
+ "Lift the red block with your left arm.",
15
+ "Use your arms to shift the red block.",
16
+ "Take the red block and move it to the pad.",
17
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
18
+ "Grab the red block, hand it to the right arm, then set it down.",
19
+ "Grip the red block with the left arm and transfer it.",
20
+ "Hand the red block to the right arm.",
21
+ "Lift the red block, hand it over, and place it properly.",
22
+ "Move the red block from the left hand to the pad.",
23
+ "Hold the red block, transfer to the right arm, then set it down.",
24
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
25
+ "Hold the red block with the left arm and place it on the pad.",
26
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
27
+ "Set the red block on the blue pad gently.",
28
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
29
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
30
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
31
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
32
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
33
+ "Lift the block with the left arm, pass it to the right arm.",
34
+ "Place the red block onto the blue pad using the right arm.",
35
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
36
+ "Grab the red block, transfer it, and set it on blue.",
37
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
38
+ "Take the red block, pass it to the right arm, and drop it.",
39
+ "Pass the red block from the left to the right.",
40
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
41
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
42
+ "Use left arm to grab the red block and place it on the pad.",
43
+ "Place the red block on the blue pad.",
44
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
45
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
46
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
47
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
48
+ "Grab red block, pass to the right arm, then drop on blue pad.",
49
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
50
+ "Use left arm to grab the block and hand it to the right.",
51
+ "Move the red block using the left arm.",
52
+ "Pick up and handover the red block.",
53
+ "Pick the red block with the left arm and transfer to the right.",
54
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
55
+ "Take the red block, pass it to the right arm, then place it.",
56
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
57
+ "Pick the red block with the left hand and pass it.",
58
+ "Take the red block using the left arm and hand it over.",
59
+ "Lift, switch arms, and place the red block.",
60
+ "Grab the red block and transfer to the right.",
61
+ "Use the left arm to grab the red block.",
62
+ "Hand over the red block to the right arm.",
63
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
64
+ "Lift the red block with your left arm.",
65
+ "Use your arms to shift the red block.",
66
+ "Take the red block and move it to the pad.",
67
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
68
+ "Grab the red block, hand it to the right arm, then set it down.",
69
+ "Grip the red block with the left arm and transfer it.",
70
+ "Hand the red block to the right arm.",
71
+ "Lift the red block, hand it over, and place it properly.",
72
+ "Move the red block from the left hand to the pad.",
73
+ "Hold the red block, transfer to the right arm, then set it down.",
74
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
75
+ "Hold the red block with the left arm and place it on the pad.",
76
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
77
+ "Set the red block on the blue pad gently.",
78
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
79
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
80
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
81
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
82
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
83
+ "Lift the block with the left arm, pass it to the right arm.",
84
+ "Place the red block onto the blue pad using the right arm.",
85
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
86
+ "Grab the red block, transfer it, and set it on blue.",
87
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
88
+ "Take the red block, pass it to the right arm, and drop it.",
89
+ "Pass the red block from the left to the right.",
90
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
91
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
92
+ "Use left arm to grab the red block and place it on the pad.",
93
+ "Place the red block on the blue pad.",
94
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
95
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
96
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
97
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
98
+ "Grab red block, pass to the right arm, then drop on blue pad.",
99
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
100
+ "Use left arm to grab the block and hand it to the right.",
101
+ "Move the red block using the left arm.",
102
+ "Pick up and handover the red block."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Pass the red block to the right arm and set it down.",
107
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
108
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
109
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
110
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
111
+ "Use the left arm to pick up the red block.",
112
+ "Grab the red block with the left arm.",
113
+ "Pick up the red block and switch arms.",
114
+ "Grab the red block with the left arm.",
115
+ "Grab the red block using the left arm.",
116
+ "Pass the red block to the right arm and set it down.",
117
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
118
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
119
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
120
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
121
+ "Use the left arm to pick up the red block.",
122
+ "Grab the red block with the left arm.",
123
+ "Pick up the red block and switch arms.",
124
+ "Grab the red block with the left arm.",
125
+ "Grab the red block using the left arm.",
126
+ "Pass the red block to the right arm and set it down.",
127
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
128
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
129
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
130
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
131
+ "Use the left arm to pick up the red block.",
132
+ "Grab the red block with the left arm.",
133
+ "Pick up the red block and switch arms.",
134
+ "Grab the red block with the left arm.",
135
+ "Grab the red block using the left arm.",
136
+ "Pass the red block to the right arm and set it down.",
137
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
138
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
139
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
140
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
141
+ "Use the left arm to pick up the red block.",
142
+ "Grab the red block with the left arm.",
143
+ "Pick up the red block and switch arms.",
144
+ "Grab the red block with the left arm.",
145
+ "Grab the red block using the left arm.",
146
+ "Pass the red block to the right arm and set it down.",
147
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
148
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
149
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
150
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
151
+ "Use the left arm to pick up the red block.",
152
+ "Grab the red block with the left arm.",
153
+ "Pick up the red block and switch arms.",
154
+ "Grab the red block with the left arm.",
155
+ "Grab the red block using the left arm.",
156
+ "Pass the red block to the right arm and set it down.",
157
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
158
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
159
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
160
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
161
+ "Use the left arm to pick up the red block.",
162
+ "Grab the red block with the left arm.",
163
+ "Pick up the red block and switch arms.",
164
+ "Grab the red block with the left arm.",
165
+ "Grab the red block using the left arm.",
166
+ "Pass the red block to the right arm and set it down.",
167
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
168
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
169
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
170
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
171
+ "Use the left arm to pick up the red block.",
172
+ "Grab the red block with the left arm.",
173
+ "Pick up the red block and switch arms.",
174
+ "Grab the red block with the left arm.",
175
+ "Grab the red block using the left arm.",
176
+ "Pass the red block to the right arm and set it down.",
177
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
178
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
179
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
180
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
181
+ "Use the left arm to pick up the red block.",
182
+ "Grab the red block with the left arm.",
183
+ "Pick up the red block and switch arms.",
184
+ "Grab the red block with the left arm.",
185
+ "Grab the red block using the left arm.",
186
+ "Pass the red block to the right arm and set it down.",
187
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
188
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
189
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
190
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
191
+ "Use the left arm to pick up the red block.",
192
+ "Grab the red block with the left arm.",
193
+ "Pick up the red block and switch arms.",
194
+ "Grab the red block with the left arm.",
195
+ "Grab the red block using the left arm.",
196
+ "Pass the red block to the right arm and set it down.",
197
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
198
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
199
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
200
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
201
+ "Use the left arm to pick up the red block.",
202
+ "Grab the red block with the left arm.",
203
+ "Pick up the red block and switch arms.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode323.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block, pass it to the right arm, and drop it.",
4
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
5
+ "Hand over the red block to the right arm.",
6
+ "Set the red block on the blue pad gently.",
7
+ "Pick the red block with the left hand and pass it.",
8
+ "Pass the red block from the left to the right.",
9
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
10
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
11
+ "Grab the red block, hand it to the right arm, then set it down.",
12
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
13
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
14
+ "Place the red block on the blue pad.",
15
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
16
+ "Grab the red block, transfer it, and set it on blue.",
17
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
18
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
19
+ "Move the red block using the left arm.",
20
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
21
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
22
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
23
+ "Take the red block, pass it to the right arm, then place it.",
24
+ "Grab red block, pass to the right arm, then drop on blue pad.",
25
+ "Pick the red block with the left arm and transfer to the right.",
26
+ "Hold the red block with the left arm and place it on the pad.",
27
+ "Use your arms to shift the red block.",
28
+ "Hand the red block to the right arm.",
29
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
30
+ "Lift, switch arms, and place the red block.",
31
+ "Take the red block and move it to the pad.",
32
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
33
+ "Pick up and handover the red block.",
34
+ "Place the red block onto the blue pad using the right arm.",
35
+ "Lift the red block, hand it over, and place it properly.",
36
+ "Use left arm to grab the red block and place it on the pad.",
37
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
38
+ "Use the left arm to grab the red block.",
39
+ "Grip the red block with the left arm and transfer it.",
40
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
41
+ "Use left arm to grab the block and hand it to the right.",
42
+ "Hold the red block, transfer to the right arm, then set it down.",
43
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
44
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
45
+ "Lift the block with the left arm, pass it to the right arm.",
46
+ "Move the red block from the left hand to the pad.",
47
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
48
+ "Grab the red block and transfer to the right.",
49
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
50
+ "Take the red block using the left arm and hand it over.",
51
+ "Lift the red block with your left arm.",
52
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
53
+ "Take the red block, pass it to the right arm, and drop it.",
54
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
55
+ "Hand over the red block to the right arm.",
56
+ "Set the red block on the blue pad gently.",
57
+ "Pick the red block with the left hand and pass it.",
58
+ "Pass the red block from the left to the right.",
59
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
60
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
61
+ "Grab the red block, hand it to the right arm, then set it down.",
62
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
63
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
64
+ "Place the red block on the blue pad.",
65
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
66
+ "Grab the red block, transfer it, and set it on blue.",
67
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
68
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
69
+ "Move the red block using the left arm.",
70
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
71
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
72
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
73
+ "Take the red block, pass it to the right arm, then place it.",
74
+ "Grab red block, pass to the right arm, then drop on blue pad.",
75
+ "Pick the red block with the left arm and transfer to the right.",
76
+ "Hold the red block with the left arm and place it on the pad.",
77
+ "Use your arms to shift the red block.",
78
+ "Hand the red block to the right arm.",
79
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
80
+ "Lift, switch arms, and place the red block.",
81
+ "Take the red block and move it to the pad.",
82
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
83
+ "Pick up and handover the red block.",
84
+ "Place the red block onto the blue pad using the right arm.",
85
+ "Lift the red block, hand it over, and place it properly.",
86
+ "Use left arm to grab the red block and place it on the pad.",
87
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
88
+ "Use the left arm to grab the red block.",
89
+ "Grip the red block with the left arm and transfer it.",
90
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
91
+ "Use left arm to grab the block and hand it to the right.",
92
+ "Hold the red block, transfer to the right arm, then set it down.",
93
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
94
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
95
+ "Lift the block with the left arm, pass it to the right arm.",
96
+ "Move the red block from the left hand to the pad.",
97
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
98
+ "Grab the red block and transfer to the right.",
99
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
100
+ "Take the red block using the left arm and hand it over.",
101
+ "Lift the red block with your left arm.",
102
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Use the left arm to pick up the red block.",
107
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm.",
109
+ "Grab the red block using the left arm.",
110
+ "Pass the red block to the right arm and set it down.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Grab the red block with the left arm.",
114
+ "Pick up the red block and switch arms.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Use the left arm to pick up the red block.",
117
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm.",
119
+ "Grab the red block using the left arm.",
120
+ "Pass the red block to the right arm and set it down.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Grab the red block with the left arm.",
124
+ "Pick up the red block and switch arms.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Use the left arm to pick up the red block.",
127
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm.",
129
+ "Grab the red block using the left arm.",
130
+ "Pass the red block to the right arm and set it down.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Grab the red block with the left arm.",
134
+ "Pick up the red block and switch arms.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Use the left arm to pick up the red block.",
137
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm.",
139
+ "Grab the red block using the left arm.",
140
+ "Pass the red block to the right arm and set it down.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Grab the red block with the left arm.",
144
+ "Pick up the red block and switch arms.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Use the left arm to pick up the red block.",
147
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm.",
149
+ "Grab the red block using the left arm.",
150
+ "Pass the red block to the right arm and set it down.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Grab the red block with the left arm.",
154
+ "Pick up the red block and switch arms.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Use the left arm to pick up the red block.",
157
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm.",
159
+ "Grab the red block using the left arm.",
160
+ "Pass the red block to the right arm and set it down.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Grab the red block with the left arm.",
164
+ "Pick up the red block and switch arms.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Use the left arm to pick up the red block.",
167
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm.",
169
+ "Grab the red block using the left arm.",
170
+ "Pass the red block to the right arm and set it down.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Grab the red block with the left arm.",
174
+ "Pick up the red block and switch arms.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Use the left arm to pick up the red block.",
177
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm.",
179
+ "Grab the red block using the left arm.",
180
+ "Pass the red block to the right arm and set it down.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Grab the red block with the left arm.",
184
+ "Pick up the red block and switch arms.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Use the left arm to pick up the red block.",
187
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm.",
189
+ "Grab the red block using the left arm.",
190
+ "Pass the red block to the right arm and set it down.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Grab the red block with the left arm.",
194
+ "Pick up the red block and switch arms.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Use the left arm to pick up the red block.",
197
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm.",
199
+ "Grab the red block using the left arm.",
200
+ "Pass the red block to the right arm and set it down.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Grab the red block with the left arm.",
204
+ "Pick up the red block and switch arms."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode325.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block, pass it to the right arm, then place it.",
4
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
5
+ "Hold the red block, transfer to the right arm, then set it down.",
6
+ "Pass the red block from the left to the right.",
7
+ "Set the red block on the blue pad gently.",
8
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
9
+ "Pick up and handover the red block.",
10
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
11
+ "Lift, switch arms, and place the red block.",
12
+ "Use left arm to grab the block and hand it to the right.",
13
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
14
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
15
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
16
+ "Grab the red block and transfer to the right.",
17
+ "Lift the red block with your left arm.",
18
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
19
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
20
+ "Use the left arm to grab the red block.",
21
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
22
+ "Place the red block onto the blue pad using the right arm.",
23
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
24
+ "Hand the red block to the right arm.",
25
+ "Pick the red block with the left arm and transfer to the right.",
26
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
27
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
28
+ "Lift the red block, hand it over, and place it properly.",
29
+ "Hold the red block with the left arm and place it on the pad.",
30
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
31
+ "Hand over the red block to the right arm.",
32
+ "Move the red block using the left arm.",
33
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
34
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
35
+ "Grab the red block, transfer it, and set it on blue.",
36
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
37
+ "Use left arm to grab the red block and place it on the pad.",
38
+ "Take the red block, pass it to the right arm, and drop it.",
39
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
40
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
41
+ "Pick the red block with the left hand and pass it.",
42
+ "Place the red block on the blue pad.",
43
+ "Use your arms to shift the red block.",
44
+ "Take the red block using the left arm and hand it over.",
45
+ "Grab red block, pass to the right arm, then drop on blue pad.",
46
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
47
+ "Grab the red block, hand it to the right arm, then set it down.",
48
+ "Lift the block with the left arm, pass it to the right arm.",
49
+ "Move the red block from the left hand to the pad.",
50
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
51
+ "Grip the red block with the left arm and transfer it.",
52
+ "Take the red block and move it to the pad.",
53
+ "Take the red block, pass it to the right arm, then place it.",
54
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
55
+ "Hold the red block, transfer to the right arm, then set it down.",
56
+ "Pass the red block from the left to the right.",
57
+ "Set the red block on the blue pad gently.",
58
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
59
+ "Pick up and handover the red block.",
60
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
61
+ "Lift, switch arms, and place the red block.",
62
+ "Use left arm to grab the block and hand it to the right.",
63
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
64
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
65
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
66
+ "Grab the red block and transfer to the right.",
67
+ "Lift the red block with your left arm.",
68
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
69
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
70
+ "Use the left arm to grab the red block.",
71
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
72
+ "Place the red block onto the blue pad using the right arm.",
73
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
74
+ "Hand the red block to the right arm.",
75
+ "Pick the red block with the left arm and transfer to the right.",
76
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
77
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
78
+ "Lift the red block, hand it over, and place it properly.",
79
+ "Hold the red block with the left arm and place it on the pad.",
80
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
81
+ "Hand over the red block to the right arm.",
82
+ "Move the red block using the left arm.",
83
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
84
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
85
+ "Grab the red block, transfer it, and set it on blue.",
86
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
87
+ "Use left arm to grab the red block and place it on the pad.",
88
+ "Take the red block, pass it to the right arm, and drop it.",
89
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
90
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
91
+ "Pick the red block with the left hand and pass it.",
92
+ "Place the red block on the blue pad.",
93
+ "Use your arms to shift the red block.",
94
+ "Take the red block using the left arm and hand it over.",
95
+ "Grab red block, pass to the right arm, then drop on blue pad.",
96
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
97
+ "Grab the red block, hand it to the right arm, then set it down.",
98
+ "Lift the block with the left arm, pass it to the right arm.",
99
+ "Move the red block from the left hand to the pad.",
100
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
101
+ "Grip the red block with the left arm and transfer it.",
102
+ "Take the red block and move it to the pad."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block with the left arm.",
109
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
110
+ "Pass the red block to the right arm and set it down.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Grab the red block using the left arm.",
114
+ "Pick up the red block and switch arms.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block with the left arm.",
119
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
120
+ "Pass the red block to the right arm and set it down.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Grab the red block using the left arm.",
124
+ "Pick up the red block and switch arms.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block with the left arm.",
129
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
130
+ "Pass the red block to the right arm and set it down.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Grab the red block using the left arm.",
134
+ "Pick up the red block and switch arms.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block with the left arm.",
139
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
140
+ "Pass the red block to the right arm and set it down.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Grab the red block using the left arm.",
144
+ "Pick up the red block and switch arms.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block with the left arm.",
149
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
150
+ "Pass the red block to the right arm and set it down.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Grab the red block using the left arm.",
154
+ "Pick up the red block and switch arms.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block with the left arm.",
159
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
160
+ "Pass the red block to the right arm and set it down.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Grab the red block using the left arm.",
164
+ "Pick up the red block and switch arms.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block with the left arm.",
169
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
170
+ "Pass the red block to the right arm and set it down.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Grab the red block using the left arm.",
174
+ "Pick up the red block and switch arms.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block with the left arm.",
179
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
180
+ "Pass the red block to the right arm and set it down.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Grab the red block using the left arm.",
184
+ "Pick up the red block and switch arms.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block with the left arm.",
189
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
190
+ "Pass the red block to the right arm and set it down.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Grab the red block using the left arm.",
194
+ "Pick up the red block and switch arms.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block with the left arm.",
199
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
200
+ "Pass the red block to the right arm and set it down.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Grab the red block using the left arm.",
204
+ "Pick up the red block and switch arms."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode326.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
4
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
5
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
6
+ "Use the left arm to grab the red block.",
7
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
8
+ "Hand over the red block to the right arm.",
9
+ "Use left arm to grab the block and hand it to the right.",
10
+ "Lift the block with the left arm, pass it to the right arm.",
11
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
12
+ "Pick the red block with the left arm and transfer to the right.",
13
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
14
+ "Lift the red block, hand it over, and place it properly.",
15
+ "Take the red block, pass it to the right arm, and drop it.",
16
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
17
+ "Move the red block using the left arm.",
18
+ "Take the red block, pass it to the right arm, then place it.",
19
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
20
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
21
+ "Grab the red block, transfer it, and set it on blue.",
22
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
23
+ "Grab the red block, hand it to the right arm, then set it down.",
24
+ "Take the red block and move it to the pad.",
25
+ "Hand the red block to the right arm.",
26
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
27
+ "Hold the red block, transfer to the right arm, then set it down.",
28
+ "Place the red block on the blue pad.",
29
+ "Move the red block from the left hand to the pad.",
30
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
31
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
32
+ "Use left arm to grab the red block and place it on the pad.",
33
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
34
+ "Take the red block using the left arm and hand it over.",
35
+ "Place the red block onto the blue pad using the right arm.",
36
+ "Pick the red block with the left hand and pass it.",
37
+ "Use your arms to shift the red block.",
38
+ "Grab red block, pass to the right arm, then drop on blue pad.",
39
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
40
+ "Set the red block on the blue pad gently.",
41
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
42
+ "Grip the red block with the left arm and transfer it.",
43
+ "Pick up and handover the red block.",
44
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
45
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
46
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
47
+ "Pass the red block from the left to the right.",
48
+ "Hold the red block with the left arm and place it on the pad.",
49
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
50
+ "Grab the red block and transfer to the right.",
51
+ "Lift the red block with your left arm.",
52
+ "Lift, switch arms, and place the red block.",
53
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
54
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
55
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
56
+ "Use the left arm to grab the red block.",
57
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
58
+ "Hand over the red block to the right arm.",
59
+ "Use left arm to grab the block and hand it to the right.",
60
+ "Lift the block with the left arm, pass it to the right arm.",
61
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
62
+ "Pick the red block with the left arm and transfer to the right.",
63
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
64
+ "Lift the red block, hand it over, and place it properly.",
65
+ "Take the red block, pass it to the right arm, and drop it.",
66
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
67
+ "Move the red block using the left arm.",
68
+ "Take the red block, pass it to the right arm, then place it.",
69
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
70
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
71
+ "Grab the red block, transfer it, and set it on blue.",
72
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
73
+ "Grab the red block, hand it to the right arm, then set it down.",
74
+ "Take the red block and move it to the pad.",
75
+ "Hand the red block to the right arm.",
76
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
77
+ "Hold the red block, transfer to the right arm, then set it down.",
78
+ "Place the red block on the blue pad.",
79
+ "Move the red block from the left hand to the pad.",
80
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
81
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
82
+ "Use left arm to grab the red block and place it on the pad.",
83
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
84
+ "Take the red block using the left arm and hand it over.",
85
+ "Place the red block onto the blue pad using the right arm.",
86
+ "Pick the red block with the left hand and pass it.",
87
+ "Use your arms to shift the red block.",
88
+ "Grab red block, pass to the right arm, then drop on blue pad.",
89
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
90
+ "Set the red block on the blue pad gently.",
91
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
92
+ "Grip the red block with the left arm and transfer it.",
93
+ "Pick up and handover the red block.",
94
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
95
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
96
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
97
+ "Pass the red block from the left to the right.",
98
+ "Hold the red block with the left arm and place it on the pad.",
99
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
100
+ "Grab the red block and transfer to the right.",
101
+ "Lift the red block with your left arm.",
102
+ "Lift, switch arms, and place the red block."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
106
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
107
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm.",
109
+ "Grab the red block using the left arm.",
110
+ "Use the left arm to pick up the red block.",
111
+ "Grab the red block with the left arm.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Pick up the red block and switch arms.",
114
+ "Pass the red block to the right arm and set it down.",
115
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
116
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
117
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm.",
119
+ "Grab the red block using the left arm.",
120
+ "Use the left arm to pick up the red block.",
121
+ "Grab the red block with the left arm.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Pick up the red block and switch arms.",
124
+ "Pass the red block to the right arm and set it down.",
125
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
126
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
127
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm.",
129
+ "Grab the red block using the left arm.",
130
+ "Use the left arm to pick up the red block.",
131
+ "Grab the red block with the left arm.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Pick up the red block and switch arms.",
134
+ "Pass the red block to the right arm and set it down.",
135
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
136
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
137
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm.",
139
+ "Grab the red block using the left arm.",
140
+ "Use the left arm to pick up the red block.",
141
+ "Grab the red block with the left arm.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Pick up the red block and switch arms.",
144
+ "Pass the red block to the right arm and set it down.",
145
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
146
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
147
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm.",
149
+ "Grab the red block using the left arm.",
150
+ "Use the left arm to pick up the red block.",
151
+ "Grab the red block with the left arm.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Pick up the red block and switch arms.",
154
+ "Pass the red block to the right arm and set it down.",
155
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
156
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
157
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm.",
159
+ "Grab the red block using the left arm.",
160
+ "Use the left arm to pick up the red block.",
161
+ "Grab the red block with the left arm.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Pick up the red block and switch arms.",
164
+ "Pass the red block to the right arm and set it down.",
165
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
166
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
167
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm.",
169
+ "Grab the red block using the left arm.",
170
+ "Use the left arm to pick up the red block.",
171
+ "Grab the red block with the left arm.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Pick up the red block and switch arms.",
174
+ "Pass the red block to the right arm and set it down.",
175
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
176
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
177
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm.",
179
+ "Grab the red block using the left arm.",
180
+ "Use the left arm to pick up the red block.",
181
+ "Grab the red block with the left arm.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Pick up the red block and switch arms.",
184
+ "Pass the red block to the right arm and set it down.",
185
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
186
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
187
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm.",
189
+ "Grab the red block using the left arm.",
190
+ "Use the left arm to pick up the red block.",
191
+ "Grab the red block with the left arm.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Pick up the red block and switch arms.",
194
+ "Pass the red block to the right arm and set it down.",
195
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
196
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
197
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm.",
199
+ "Grab the red block using the left arm.",
200
+ "Use the left arm to pick up the red block.",
201
+ "Grab the red block with the left arm.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Pick up the red block and switch arms.",
204
+ "Pass the red block to the right arm and set it down."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode442.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Grab the red block and transfer to the right.",
4
+ "Hold the red block with the left arm and place it on the pad.",
5
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
6
+ "Lift the red block, hand it over, and place it properly.",
7
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
8
+ "Take the red block and move it to the pad.",
9
+ "Pick the red block with the left arm and transfer to the right.",
10
+ "Lift, switch arms, and place the red block.",
11
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
12
+ "Use left arm to grab the block and hand it to the right.",
13
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
14
+ "Pick up and handover the red block.",
15
+ "Set the red block on the blue pad gently.",
16
+ "Use left arm to grab the red block and place it on the pad.",
17
+ "Grip the red block with the left arm and transfer it.",
18
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
19
+ "Pick the red block with the left hand and pass it.",
20
+ "Place the red block onto the blue pad using the right arm.",
21
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
22
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
23
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
24
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
25
+ "Use your arms to shift the red block.",
26
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
27
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
28
+ "Use the left arm to grab the red block.",
29
+ "Hand over the red block to the right arm.",
30
+ "Take the red block, pass it to the right arm, and drop it.",
31
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
32
+ "Grab the red block, transfer it, and set it on blue.",
33
+ "Lift the block with the left arm, pass it to the right arm.",
34
+ "Move the red block using the left arm.",
35
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
36
+ "Take the red block, pass it to the right arm, then place it.",
37
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
38
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
39
+ "Hold the red block, transfer to the right arm, then set it down.",
40
+ "Grab red block, pass to the right arm, then drop on blue pad.",
41
+ "Move the red block from the left hand to the pad.",
42
+ "Take the red block using the left arm and hand it over.",
43
+ "Place the red block on the blue pad.",
44
+ "Pass the red block from the left to the right.",
45
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
46
+ "Lift the red block with your left arm.",
47
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
48
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
49
+ "Grab the red block, hand it to the right arm, then set it down.",
50
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
51
+ "Hand the red block to the right arm.",
52
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
53
+ "Grab the red block and transfer to the right.",
54
+ "Hold the red block with the left arm and place it on the pad.",
55
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
56
+ "Lift the red block, hand it over, and place it properly.",
57
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
58
+ "Take the red block and move it to the pad.",
59
+ "Pick the red block with the left arm and transfer to the right.",
60
+ "Lift, switch arms, and place the red block.",
61
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
62
+ "Use left arm to grab the block and hand it to the right.",
63
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
64
+ "Pick up and handover the red block.",
65
+ "Set the red block on the blue pad gently.",
66
+ "Use left arm to grab the red block and place it on the pad.",
67
+ "Grip the red block with the left arm and transfer it.",
68
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
69
+ "Pick the red block with the left hand and pass it.",
70
+ "Place the red block onto the blue pad using the right arm.",
71
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
72
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
73
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
74
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
75
+ "Use your arms to shift the red block.",
76
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
77
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
78
+ "Use the left arm to grab the red block.",
79
+ "Hand over the red block to the right arm.",
80
+ "Take the red block, pass it to the right arm, and drop it.",
81
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
82
+ "Grab the red block, transfer it, and set it on blue.",
83
+ "Lift the block with the left arm, pass it to the right arm.",
84
+ "Move the red block using the left arm.",
85
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
86
+ "Take the red block, pass it to the right arm, then place it.",
87
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
88
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
89
+ "Hold the red block, transfer to the right arm, then set it down.",
90
+ "Grab red block, pass to the right arm, then drop on blue pad.",
91
+ "Move the red block from the left hand to the pad.",
92
+ "Take the red block using the left arm and hand it over.",
93
+ "Place the red block on the blue pad.",
94
+ "Pass the red block from the left to the right.",
95
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
96
+ "Lift the red block with your left arm.",
97
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
98
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
99
+ "Grab the red block, hand it to the right arm, then set it down.",
100
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
101
+ "Hand the red block to the right arm.",
102
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm.",
106
+ "Pick up the red block and switch arms.",
107
+ "Pass the red block to the right arm and set it down.",
108
+ "Grab the red block with the left arm.",
109
+ "Use the left arm to pick up the red block.",
110
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Grab the red block using the left arm.",
114
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
115
+ "Grab the red block with the left arm.",
116
+ "Pick up the red block and switch arms.",
117
+ "Pass the red block to the right arm and set it down.",
118
+ "Grab the red block with the left arm.",
119
+ "Use the left arm to pick up the red block.",
120
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Grab the red block using the left arm.",
124
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
125
+ "Grab the red block with the left arm.",
126
+ "Pick up the red block and switch arms.",
127
+ "Pass the red block to the right arm and set it down.",
128
+ "Grab the red block with the left arm.",
129
+ "Use the left arm to pick up the red block.",
130
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Grab the red block using the left arm.",
134
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
135
+ "Grab the red block with the left arm.",
136
+ "Pick up the red block and switch arms.",
137
+ "Pass the red block to the right arm and set it down.",
138
+ "Grab the red block with the left arm.",
139
+ "Use the left arm to pick up the red block.",
140
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Grab the red block using the left arm.",
144
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
145
+ "Grab the red block with the left arm.",
146
+ "Pick up the red block and switch arms.",
147
+ "Pass the red block to the right arm and set it down.",
148
+ "Grab the red block with the left arm.",
149
+ "Use the left arm to pick up the red block.",
150
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Grab the red block using the left arm.",
154
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
155
+ "Grab the red block with the left arm.",
156
+ "Pick up the red block and switch arms.",
157
+ "Pass the red block to the right arm and set it down.",
158
+ "Grab the red block with the left arm.",
159
+ "Use the left arm to pick up the red block.",
160
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Grab the red block using the left arm.",
164
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
165
+ "Grab the red block with the left arm.",
166
+ "Pick up the red block and switch arms.",
167
+ "Pass the red block to the right arm and set it down.",
168
+ "Grab the red block with the left arm.",
169
+ "Use the left arm to pick up the red block.",
170
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Grab the red block using the left arm.",
174
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
175
+ "Grab the red block with the left arm.",
176
+ "Pick up the red block and switch arms.",
177
+ "Pass the red block to the right arm and set it down.",
178
+ "Grab the red block with the left arm.",
179
+ "Use the left arm to pick up the red block.",
180
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Grab the red block using the left arm.",
184
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
185
+ "Grab the red block with the left arm.",
186
+ "Pick up the red block and switch arms.",
187
+ "Pass the red block to the right arm and set it down.",
188
+ "Grab the red block with the left arm.",
189
+ "Use the left arm to pick up the red block.",
190
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Grab the red block using the left arm.",
194
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
195
+ "Grab the red block with the left arm.",
196
+ "Pick up the red block and switch arms.",
197
+ "Pass the red block to the right arm and set it down.",
198
+ "Grab the red block with the left arm.",
199
+ "Use the left arm to pick up the red block.",
200
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Grab the red block using the left arm.",
204
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode457.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Grab the red block, hand it to the right arm, then set it down.",
4
+ "Pass the red block from the left to the right.",
5
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
6
+ "Lift the block with the left arm, pass it to the right arm.",
7
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
8
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
9
+ "Hand over the red block to the right arm.",
10
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
11
+ "Take the red block, pass it to the right arm, and drop it.",
12
+ "Hold the red block with the left arm and place it on the pad.",
13
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
14
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
15
+ "Hold the red block, transfer to the right arm, then set it down.",
16
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
17
+ "Pick the red block with the left hand and pass it.",
18
+ "Grab the red block, transfer it, and set it on blue.",
19
+ "Grab the red block and transfer to the right.",
20
+ "Take the red block using the left arm and hand it over.",
21
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
22
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
23
+ "Pick the red block with the left arm and transfer to the right.",
24
+ "Take the red block, pass it to the right arm, then place it.",
25
+ "Use left arm to grab the red block and place it on the pad.",
26
+ "Pick up and handover the red block.",
27
+ "Use the left arm to grab the red block.",
28
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
29
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
30
+ "Take the red block and move it to the pad.",
31
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
32
+ "Lift the red block, hand it over, and place it properly.",
33
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
34
+ "Place the red block on the blue pad.",
35
+ "Grip the red block with the left arm and transfer it.",
36
+ "Grab red block, pass to the right arm, then drop on blue pad.",
37
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
38
+ "Lift the red block with your left arm.",
39
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
40
+ "Use left arm to grab the block and hand it to the right.",
41
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
42
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
43
+ "Lift, switch arms, and place the red block.",
44
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
45
+ "Place the red block onto the blue pad using the right arm.",
46
+ "Use your arms to shift the red block.",
47
+ "Move the red block from the left hand to the pad.",
48
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
49
+ "Set the red block on the blue pad gently.",
50
+ "Move the red block using the left arm.",
51
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
52
+ "Hand the red block to the right arm.",
53
+ "Grab the red block, hand it to the right arm, then set it down.",
54
+ "Pass the red block from the left to the right.",
55
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
56
+ "Lift the block with the left arm, pass it to the right arm.",
57
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
58
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
59
+ "Hand over the red block to the right arm.",
60
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
61
+ "Take the red block, pass it to the right arm, and drop it.",
62
+ "Hold the red block with the left arm and place it on the pad.",
63
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
64
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
65
+ "Hold the red block, transfer to the right arm, then set it down.",
66
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
67
+ "Pick the red block with the left hand and pass it.",
68
+ "Grab the red block, transfer it, and set it on blue.",
69
+ "Grab the red block and transfer to the right.",
70
+ "Take the red block using the left arm and hand it over.",
71
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
72
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
73
+ "Pick the red block with the left arm and transfer to the right.",
74
+ "Take the red block, pass it to the right arm, then place it.",
75
+ "Use left arm to grab the red block and place it on the pad.",
76
+ "Pick up and handover the red block.",
77
+ "Use the left arm to grab the red block.",
78
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
79
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
80
+ "Take the red block and move it to the pad.",
81
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
82
+ "Lift the red block, hand it over, and place it properly.",
83
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
84
+ "Place the red block on the blue pad.",
85
+ "Grip the red block with the left arm and transfer it.",
86
+ "Grab red block, pass to the right arm, then drop on blue pad.",
87
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
88
+ "Lift the red block with your left arm.",
89
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
90
+ "Use left arm to grab the block and hand it to the right.",
91
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
92
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
93
+ "Lift, switch arms, and place the red block.",
94
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
95
+ "Place the red block onto the blue pad using the right arm.",
96
+ "Use your arms to shift the red block.",
97
+ "Move the red block from the left hand to the pad.",
98
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
99
+ "Set the red block on the blue pad gently.",
100
+ "Move the red block using the left arm.",
101
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
102
+ "Hand the red block to the right arm."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Pick up the red block and switch arms.",
108
+ "Use the left arm to pick up the red block.",
109
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
110
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
111
+ "Pass the red block to the right arm and set it down.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Grab the red block with the left arm.",
114
+ "Grab the red block using the left arm.",
115
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Pick up the red block and switch arms.",
118
+ "Use the left arm to pick up the red block.",
119
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
120
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
121
+ "Pass the red block to the right arm and set it down.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Grab the red block with the left arm.",
124
+ "Grab the red block using the left arm.",
125
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Pick up the red block and switch arms.",
128
+ "Use the left arm to pick up the red block.",
129
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
130
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
131
+ "Pass the red block to the right arm and set it down.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Grab the red block with the left arm.",
134
+ "Grab the red block using the left arm.",
135
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Pick up the red block and switch arms.",
138
+ "Use the left arm to pick up the red block.",
139
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
140
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
141
+ "Pass the red block to the right arm and set it down.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Grab the red block with the left arm.",
144
+ "Grab the red block using the left arm.",
145
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Pick up the red block and switch arms.",
148
+ "Use the left arm to pick up the red block.",
149
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
150
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
151
+ "Pass the red block to the right arm and set it down.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Grab the red block with the left arm.",
154
+ "Grab the red block using the left arm.",
155
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Pick up the red block and switch arms.",
158
+ "Use the left arm to pick up the red block.",
159
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
160
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
161
+ "Pass the red block to the right arm and set it down.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Grab the red block with the left arm.",
164
+ "Grab the red block using the left arm.",
165
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Pick up the red block and switch arms.",
168
+ "Use the left arm to pick up the red block.",
169
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
170
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
171
+ "Pass the red block to the right arm and set it down.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Grab the red block with the left arm.",
174
+ "Grab the red block using the left arm.",
175
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Pick up the red block and switch arms.",
178
+ "Use the left arm to pick up the red block.",
179
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
180
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
181
+ "Pass the red block to the right arm and set it down.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Grab the red block with the left arm.",
184
+ "Grab the red block using the left arm.",
185
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Pick up the red block and switch arms.",
188
+ "Use the left arm to pick up the red block.",
189
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
190
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
191
+ "Pass the red block to the right arm and set it down.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Grab the red block with the left arm.",
194
+ "Grab the red block using the left arm.",
195
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Pick up the red block and switch arms.",
198
+ "Use the left arm to pick up the red block.",
199
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
200
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
201
+ "Pass the red block to the right arm and set it down.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Grab the red block with the left arm.",
204
+ "Grab the red block using the left arm."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode482.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Hold the red block, transfer to the right arm, then set it down.",
4
+ "Grab the red block, transfer it, and set it on blue.",
5
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
6
+ "Grab the red block and transfer to the right.",
7
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
8
+ "Take the red block, pass it to the right arm, then place it.",
9
+ "Take the red block and move it to the pad.",
10
+ "Pass the red block from the left to the right.",
11
+ "Use the left arm to grab the red block.",
12
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
13
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
14
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
15
+ "Take the red block, pass it to the right arm, and drop it.",
16
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
17
+ "Pick the red block with the left hand and pass it.",
18
+ "Place the red block onto the blue pad using the right arm.",
19
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
20
+ "Use left arm to grab the red block and place it on the pad.",
21
+ "Hand the red block to the right arm.",
22
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
23
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
24
+ "Take the red block using the left arm and hand it over.",
25
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
26
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
27
+ "Use left arm to grab the block and hand it to the right.",
28
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
29
+ "Hand over the red block to the right arm.",
30
+ "Lift the red block, hand it over, and place it properly.",
31
+ "Pick the red block with the left arm and transfer to the right.",
32
+ "Place the red block on the blue pad.",
33
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
34
+ "Lift the block with the left arm, pass it to the right arm.",
35
+ "Lift, switch arms, and place the red block.",
36
+ "Lift the red block with your left arm.",
37
+ "Move the red block using the left arm.",
38
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
39
+ "Move the red block from the left hand to the pad.",
40
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
41
+ "Grab red block, pass to the right arm, then drop on blue pad.",
42
+ "Use your arms to shift the red block.",
43
+ "Set the red block on the blue pad gently.",
44
+ "Grab the red block, hand it to the right arm, then set it down.",
45
+ "Hold the red block with the left arm and place it on the pad.",
46
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
47
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
48
+ "Grip the red block with the left arm and transfer it.",
49
+ "Pick up and handover the red block.",
50
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
51
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
52
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
53
+ "Hold the red block, transfer to the right arm, then set it down.",
54
+ "Grab the red block, transfer it, and set it on blue.",
55
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
56
+ "Grab the red block and transfer to the right.",
57
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
58
+ "Take the red block, pass it to the right arm, then place it.",
59
+ "Take the red block and move it to the pad.",
60
+ "Pass the red block from the left to the right.",
61
+ "Use the left arm to grab the red block.",
62
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
63
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
64
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
65
+ "Take the red block, pass it to the right arm, and drop it.",
66
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
67
+ "Pick the red block with the left hand and pass it.",
68
+ "Place the red block onto the blue pad using the right arm.",
69
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
70
+ "Use left arm to grab the red block and place it on the pad.",
71
+ "Hand the red block to the right arm.",
72
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
73
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
74
+ "Take the red block using the left arm and hand it over.",
75
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
76
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
77
+ "Use left arm to grab the block and hand it to the right.",
78
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
79
+ "Hand over the red block to the right arm.",
80
+ "Lift the red block, hand it over, and place it properly.",
81
+ "Pick the red block with the left arm and transfer to the right.",
82
+ "Place the red block on the blue pad.",
83
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
84
+ "Lift the block with the left arm, pass it to the right arm.",
85
+ "Lift, switch arms, and place the red block.",
86
+ "Lift the red block with your left arm.",
87
+ "Move the red block using the left arm.",
88
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
89
+ "Move the red block from the left hand to the pad.",
90
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
91
+ "Grab red block, pass to the right arm, then drop on blue pad.",
92
+ "Use your arms to shift the red block.",
93
+ "Set the red block on the blue pad gently.",
94
+ "Grab the red block, hand it to the right arm, then set it down.",
95
+ "Hold the red block with the left arm and place it on the pad.",
96
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
97
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
98
+ "Grip the red block with the left arm and transfer it.",
99
+ "Pick up and handover the red block.",
100
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
101
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
102
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
109
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
110
+ "Grab the red block with the left arm.",
111
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
112
+ "Pick up the red block and switch arms.",
113
+ "Grab the red block with the left arm.",
114
+ "Pass the red block to the right arm and set it down.",
115
+ "Grab the red block using the left arm.",
116
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
119
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
120
+ "Grab the red block with the left arm.",
121
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
122
+ "Pick up the red block and switch arms.",
123
+ "Grab the red block with the left arm.",
124
+ "Pass the red block to the right arm and set it down.",
125
+ "Grab the red block using the left arm.",
126
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
129
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
130
+ "Grab the red block with the left arm.",
131
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
132
+ "Pick up the red block and switch arms.",
133
+ "Grab the red block with the left arm.",
134
+ "Pass the red block to the right arm and set it down.",
135
+ "Grab the red block using the left arm.",
136
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
139
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
140
+ "Grab the red block with the left arm.",
141
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
142
+ "Pick up the red block and switch arms.",
143
+ "Grab the red block with the left arm.",
144
+ "Pass the red block to the right arm and set it down.",
145
+ "Grab the red block using the left arm.",
146
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
149
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
150
+ "Grab the red block with the left arm.",
151
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
152
+ "Pick up the red block and switch arms.",
153
+ "Grab the red block with the left arm.",
154
+ "Pass the red block to the right arm and set it down.",
155
+ "Grab the red block using the left arm.",
156
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
159
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
160
+ "Grab the red block with the left arm.",
161
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
162
+ "Pick up the red block and switch arms.",
163
+ "Grab the red block with the left arm.",
164
+ "Pass the red block to the right arm and set it down.",
165
+ "Grab the red block using the left arm.",
166
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
169
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
170
+ "Grab the red block with the left arm.",
171
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
172
+ "Pick up the red block and switch arms.",
173
+ "Grab the red block with the left arm.",
174
+ "Pass the red block to the right arm and set it down.",
175
+ "Grab the red block using the left arm.",
176
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
179
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
180
+ "Grab the red block with the left arm.",
181
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
182
+ "Pick up the red block and switch arms.",
183
+ "Grab the red block with the left arm.",
184
+ "Pass the red block to the right arm and set it down.",
185
+ "Grab the red block using the left arm.",
186
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
189
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
190
+ "Grab the red block with the left arm.",
191
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
192
+ "Pick up the red block and switch arms.",
193
+ "Grab the red block with the left arm.",
194
+ "Pass the red block to the right arm and set it down.",
195
+ "Grab the red block using the left arm.",
196
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
199
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
200
+ "Grab the red block with the left arm.",
201
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
202
+ "Pick up the red block and switch arms.",
203
+ "Grab the red block with the left arm.",
204
+ "Pass the red block to the right arm and set it down."
205
+ ]
206
+ }
handover_block/piper_randomized_500/instructions/episode50.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block, pass it to the right arm, then place it.",
4
+ "Lift, switch arms, and place the red block.",
5
+ "Set the red block on the blue pad gently.",
6
+ "Lift the block with the left arm, pass it to the right arm.",
7
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
8
+ "Hand over the red block to the right arm.",
9
+ "Pick the red block with the left arm and transfer to the right.",
10
+ "Grab the red block, hand it to the right arm, then set it down.",
11
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
12
+ "Grab the red block and transfer to the right.",
13
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
14
+ "Use left arm to grab the red block and place it on the pad.",
15
+ "Move the red block from the left hand to the pad.",
16
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
17
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
18
+ "Lift the red block, hand it over, and place it properly.",
19
+ "Pick the red block with the left hand and pass it.",
20
+ "Lift the red block with your left arm.",
21
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
22
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
23
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
24
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
25
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
26
+ "Take the red block using the left arm and hand it over.",
27
+ "Pass the red block from the left to the right.",
28
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
29
+ "Take the red block and move it to the pad.",
30
+ "Take the red block, pass it to the right arm, and drop it.",
31
+ "Hold the red block with the left arm and place it on the pad.",
32
+ "Use the left arm to grab the red block.",
33
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
34
+ "Grab red block, pass to the right arm, then drop on blue pad.",
35
+ "Move the red block using the left arm.",
36
+ "Place the red block onto the blue pad using the right arm.",
37
+ "Hold the red block, transfer to the right arm, then set it down.",
38
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
39
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
40
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
41
+ "Hand the red block to the right arm.",
42
+ "Pick up and handover the red block.",
43
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
44
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
45
+ "Grab the red block, transfer it, and set it on blue.",
46
+ "Grip the red block with the left arm and transfer it.",
47
+ "Place the red block on the blue pad.",
48
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
49
+ "Use left arm to grab the block and hand it to the right.",
50
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
51
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
52
+ "Use your arms to shift the red block.",
53
+ "Take the red block, pass it to the right arm, then place it.",
54
+ "Lift, switch arms, and place the red block.",
55
+ "Set the red block on the blue pad gently.",
56
+ "Lift the block with the left arm, pass it to the right arm.",
57
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
58
+ "Hand over the red block to the right arm.",
59
+ "Pick the red block with the left arm and transfer to the right.",
60
+ "Grab the red block, hand it to the right arm, then set it down.",
61
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
62
+ "Grab the red block and transfer to the right.",
63
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
64
+ "Use left arm to grab the red block and place it on the pad.",
65
+ "Move the red block from the left hand to the pad.",
66
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
67
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
68
+ "Lift the red block, hand it over, and place it properly.",
69
+ "Pick the red block with the left hand and pass it.",
70
+ "Lift the red block with your left arm.",
71
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
72
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
73
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
74
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
75
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
76
+ "Take the red block using the left arm and hand it over.",
77
+ "Pass the red block from the left to the right.",
78
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
79
+ "Take the red block and move it to the pad.",
80
+ "Take the red block, pass it to the right arm, and drop it.",
81
+ "Hold the red block with the left arm and place it on the pad.",
82
+ "Use the left arm to grab the red block.",
83
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
84
+ "Grab red block, pass to the right arm, then drop on blue pad.",
85
+ "Move the red block using the left arm.",
86
+ "Place the red block onto the blue pad using the right arm.",
87
+ "Hold the red block, transfer to the right arm, then set it down.",
88
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
89
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
90
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
91
+ "Hand the red block to the right arm.",
92
+ "Pick up and handover the red block.",
93
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
94
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
95
+ "Grab the red block, transfer it, and set it on blue.",
96
+ "Grip the red block with the left arm and transfer it.",
97
+ "Place the red block on the blue pad.",
98
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
99
+ "Use left arm to grab the block and hand it to the right.",
100
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
101
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
102
+ "Use your arms to shift the red block."
103
+ ],
104
+ "unseen": [
105
+ "Pick up the red block and switch arms.",
106
+ "Grab the red block with the left arm.",
107
+ "Grab the red block using the left arm.",
108
+ "Pass the red block to the right arm and set it down.",
109
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Use the left arm to pick up the red block.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
114
+ "Grab the red block with the left arm.",
115
+ "Pick up the red block and switch arms.",
116
+ "Grab the red block with the left arm.",
117
+ "Grab the red block using the left arm.",
118
+ "Pass the red block to the right arm and set it down.",
119
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Use the left arm to pick up the red block.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
124
+ "Grab the red block with the left arm.",
125
+ "Pick up the red block and switch arms.",
126
+ "Grab the red block with the left arm.",
127
+ "Grab the red block using the left arm.",
128
+ "Pass the red block to the right arm and set it down.",
129
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Use the left arm to pick up the red block.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
134
+ "Grab the red block with the left arm.",
135
+ "Pick up the red block and switch arms.",
136
+ "Grab the red block with the left arm.",
137
+ "Grab the red block using the left arm.",
138
+ "Pass the red block to the right arm and set it down.",
139
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Use the left arm to pick up the red block.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
144
+ "Grab the red block with the left arm.",
145
+ "Pick up the red block and switch arms.",
146
+ "Grab the red block with the left arm.",
147
+ "Grab the red block using the left arm.",
148
+ "Pass the red block to the right arm and set it down.",
149
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Use the left arm to pick up the red block.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
154
+ "Grab the red block with the left arm.",
155
+ "Pick up the red block and switch arms.",
156
+ "Grab the red block with the left arm.",
157
+ "Grab the red block using the left arm.",
158
+ "Pass the red block to the right arm and set it down.",
159
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Use the left arm to pick up the red block.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
164
+ "Grab the red block with the left arm.",
165
+ "Pick up the red block and switch arms.",
166
+ "Grab the red block with the left arm.",
167
+ "Grab the red block using the left arm.",
168
+ "Pass the red block to the right arm and set it down.",
169
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Use the left arm to pick up the red block.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
174
+ "Grab the red block with the left arm.",
175
+ "Pick up the red block and switch arms.",
176
+ "Grab the red block with the left arm.",
177
+ "Grab the red block using the left arm.",
178
+ "Pass the red block to the right arm and set it down.",
179
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Use the left arm to pick up the red block.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
184
+ "Grab the red block with the left arm.",
185
+ "Pick up the red block and switch arms.",
186
+ "Grab the red block with the left arm.",
187
+ "Grab the red block using the left arm.",
188
+ "Pass the red block to the right arm and set it down.",
189
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Use the left arm to pick up the red block.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
194
+ "Grab the red block with the left arm.",
195
+ "Pick up the red block and switch arms.",
196
+ "Grab the red block with the left arm.",
197
+ "Grab the red block using the left arm.",
198
+ "Pass the red block to the right arm and set it down.",
199
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Use the left arm to pick up the red block.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }